2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong

Automatic Generation Control of an Interconnected

Hydro-Thermal System Using Conventional Integral
and Fuzzy Logic Controller
J. Nanda A. Mangla

Abstract- This paper deals with Automatic Generation Control units owing to their high efficiency are usually kept at base
of interconnected hydrothermal system in the continuous- load close to their maximum output with no participation in
discrete mode using conventional integral and fuzzy logic system automatic generation control (AGC). Gas power
controllers. Effects of variation of sampling time period on generation is ideal for meeting varying load demand.
dynamic responses have been investigated, both with
conventional integral controller and fuzzy logic controllers,
However, such plants do not play very significant role in AGC
considering small step perturbations. Effects of different number of a large power system, since these plants form a very small
of triangular membership functions and inputs for Fuzzy Logic percentage of total system generation. Gas plants are used to
Controller on dynamic response have been explored. Further, meet peak demands only. Thus the natural choice for AGC
dynamic responses under small step perturbation have been falls on either thermal or hydro units. The characteristics of
compared, considering integral and fuzzy logic controllers. hydro turbine differ from steam turbine in many- resDects:-
.
In a hydro-turbine relatively large inertia of water, used as
Index Terms- Automatic generation control, Fuzzy logic the source of energy, causes a greater time lag in the
controller, Hydrothermal system, Integral controller. response of the change in prime mover torque to a change
in gate position. Moreover, there is an initial tendency for
I. Nomenclature:
the torque to change in a direction opposite to that finally
f = Nominal system frequency
produced.
i = Subscript referred to area i (1, 2)
Modem hydro units are normally equipped with electric
P, = Area rated power
govemors in which the electronic apparatus is used to
HI= inertia constant
perform low power functions associated with speed
APD,= Incremental load change
sensing and droop compensation.
APg, = Incremental generation change
Literature survey shows that most
D, = APD, / Af,
of earlier works in the area of AGC pertain to interconnected
TI2= Synchronizing coefficient
thermal systems and relatively lesser attention has been
T, = steam governor time constant
devoted to the AGC of interconnected hydro-thermal system
Kr=Reheat constant
involving thermal and hydro subsystem of widely different
Tr = Reheat time constant
characteristics. Concordia and Kirchmayer [ 11 have studied
T, = Steam turbine time constant
the AGC of a hydro-thermal system considering non-reheat
RI = Governor speed regulation parameter.
type thermal system neglecting generation rate constraints.
B, = Frequency bias constant
Kothari, Kaul, Nanda [3] have investigated the AGC problem
T,, = 2H, / f* D,
of a hydro-thermal system provided with integral type
Kp,= 1/D,
supplementary controllers. The model uses continuous mode
Kr = Integral gain
strategy, where both system and controllers are assumed to
&, K,, K, = Electric governor derivative, proportional and
work in the continuous mode. It is to be appreciated that in a
integral gains, respectively.
realistic situation, the system works in the continuous mode
PI = (DI+ URJ; Area frequency response characteristics whereas the controllers work in the discrete mode. Perhaps
Kt = Feedback gain of FLC
Nanda, Kothari and Satsangi [7] are the first to present
T, = Water starting time
comprehensive analysis of AGC of an interconnected hydro-
ACE = Area Control Error
thermal system in continuous-discrete mode with classical
at2 = - PrI / Pr2 controllers. In the interconnected hydro-thermal system used
J = Cost Index
by them, the thermal system uses reheat turbine and the hydro
system uses a mechanical governor.
11. Introduction:
In modern hydro thermal system, reheat
Generation in large interconnected power system comprises of type turbine and electric governor [4] are used. To the best of
thermal, hydro, nuclear and gas power generation. Nuclear
authors’ knowledge, no work seems to have been reported for
AGC of an interconnected hydro-thermal system in the
J. Nanda is with Department of Electrical Engineering, Indian Institute of continuous-discrete mode strategy with reheat turbine and
Technology, Delhi, India. (Email: janardan-nanda@yahoo.com) electric governor. A few investigations have been carried out
A. Mangla is with Departmcnt of Electrical Engineering, Indian Institute of
Technology, Delhi, India. (Email: mangla-ashish@rcdiffmail.com) using Fuzzy Logic Controllers (FLC) for AGC of thermal
systems [SI, [6]. Surprisingly, till date, no attempt has been

0-7803-8237-4/04/$17.0002004IEEE

372
2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

made to examine the effect of FLC in an interconnected have been tried out. Triangular MFs with 3, 5, 7 number have
hydro-thermal system. The main objectives of the present been used for FLC to explore the best of these from the view
paper are the following:- point of dynamic responses.
To consider an interconnected hydro-thermal system in
continuous-discrete mode strategy provided with reheat
turbine and electric governor and to evaluate the dynamic
responses considering conventional integral controllers in
both the areas. The integral gains are optimized using
Integral Square Error (ISE) technique. Effect of different
sampling periods on dynamic response has been studied.
Fuzzy Logic Controllers have been used in both the
thermal and hydro areas. Attempt has been made to
examine suitable number of triangular membership
functions (MFs) that can provide better dynamic
response. The dynamic responses are obtained and
compared to those obtained with conventional integral
controllers for different sampling periods. Further, several
inputs have been tried out and dynamic responses are
examined in order to decide suitable inputs to the fuzzy
Logic Controller (FLC).
Sampling Time Period
111. SYSTEM INVESTIGATED: (T) KII Ki?
Investigations have been carried out on an interconnected 2 Sec 0.12 0.09
hydro-thermal system, provided with reheat type of turbine 4 Sec 0.1 I 0.1
and electric governor (fig 1). GRC has been neglected. A bias 8 Sec 0.1 1 0.1
10 Sec 0.1 0.09
setting of Bi = pi is considered in both hydro and thermal 15 Sec 0.07 0.07
areas. Matlab version 6.1 has been used, to obtain dynamic 20 Sec 0.06 0.06
responses for Afl, Afi, APtiefor 1% step load perturbation in
either area. The system data are given in appendix 1. Different
Dynamic responses (Af], Af2, APtie, APgl, APg2 etc.) are
inputs such as ACE and A C E , ACE and Af ,ACE and

-
I Kr.Tr.s+l 1
- KPI
+
TFI.S+1 Tr.s+l Tt.s+l TpI.s+l del fI(8)

2*3.14*T12
I ~

v
S
del ptie

I n I I I I
del
Kd.s2+Kp.s+Ki
-+
Kd.3 &(Kp+fAU]s+Ki 0.5*Tw*s+l
Zero-Order 2
electric governor

t
controller 2 1
-
R2
4
Ln
del PdZ(3)
1
Fig 1:- Transfer Function Model of an Intcrconnected two-Area Hydro-Thermal System

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2004 I E E E International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2 0 0 4 H o n g K o n g

obtained for 1% step perturbation considered either in thermal
area or in hydro area. Some sample responses like Afi = f(t)
and APtie = f(t), for 1% step perturbation in thermal area are
given in fig 2 & 3, for different sampling periods with
corresponding optimum gains.
sampling periods appropriate feedback gain K, has been found
that corresponds to zero steady state error. It has been found
that for different sampling time periods the value of K,is more
or less same. Table-I1 provides data for appropriate K, for
different number of MFs that will assure zero steady state
error in the dynamic responses.

Table I1
Optimum Value of feedback gains for Different sampling Periods

Number of MFs I Kt I Kt2

5 0.007 0.01
7 0.999 1.0

1 % STEP PERTURBATION IN THERMAL AREA

CONTINUOUS - DISCRETE MODE

-0.03
0
ili
-0.04 I
20 40
I

60 80
I
100
time [sec)

Fig 2:- Af, = f (t) for Several Sampling Periods, with Conventional Integral
Controllers.
w
n
-O O3 I I
1% STEP PERTURBATION IN HYDRO AREA
CONTINUOUS - DISCRETE MODE
-
IO-^
21 I
-0.04 ,

-0.05I
t
0
',

20 40 60 80
I
100
time (sec)
F
E Fig 4:-Afi = f (1) for Several Sampling Periods, with Convcntional Integral
Controllers.

d!
-i
a
1% STEP PERTURBATION IN HYDRO AREA
CONTINUOUS - DISCRETE MODE
d
1% STEP PERTURBATION IN THERMAL AREA
CONTINUOUS - DISCRETE MODE
-8 I

0 20 40 60 80 100
time (sec)

Fig 3:- AI',,,= f(t) for Several Sampling Periods, with Conventional Integral
Controllers.
-2 '
0 20 40 60 80
I
100
time (sec)
Some sample responses like Af2 = f(t) and AP,,, = f(t), for 1%
step perturbation in hydro area are given in fig 4 & 5 , for Fig 5 : - AP,,,=f(t) for Several Sampling Periods, with Conventional Intcgral
different sampling periods with corresponding optimum gains. Controllers.
It is observed that for AGC, higher sampling period of T = 10
sec can be comfortably accepted in practice, unlike the present
practice of using generally sampling period of 2 or 4 sec. it is >
to be appreciated that larger permissible sampling period will output
reduce wear and tear of sampler. Kt
The integral controllers are now replaced with fuzzy
-
z
controllers in both thermal and hydro areas. Fig.6 shows a feedbadc gain
fuzzy controller with its input, output and feedback gain, K.
Triangular MFs of 3, 5, 7 numbers are tried to choose the best
one from view point of dynamic responses for a FLC in one
Fig 6 : -Fuzzy Controller with Input, Output and Feedback Gain.
area considering 1% step perturbation in that area and other
area is assumed to remain uncontrolled. Further for different

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2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

Dynamic responses have been obtained with the FLC for Responses have been found for different sampling periods
different number of MFs, with corresponding feedback gain with corresponding feedback gain Kt as given in Table-11.
Kt, for different sampling periods. Examining these responses, Examining responses, it is observed that 5 numbers of MFs
it is observed that 5 numbers of triangular MFs provides the again provides the best dynamic responses. With above
best response. For 5 numbers of triangular MFs, the fuzzy investigations mentioned earlier, further studies are carried out
rules are given in Table -111. As a sample example fig. 7 and 8 with 1% step perturbation in both thermal and hydro area,
shows Af, = f(t) & APtie= f(t) for a sampling period of 2 sec considering 5 numbers of triangular MFs. Dynamic responses
for 3, 5, 7 MFs, considering 1% step perturbation in thermal are explored for different sampling periods of 2, 4, 8, 10 sec
Table 111
Fuzzy Rules for 5 Membership Functions

I I I ACE I

0.01
3 MF (fig 9). Fig. 9 reveals responses up to 10 sec are close from
,J view point of peak deviation and settling time. It is again
0 construed that even for FLC, higher sampling period of 10 sec
-
r_ -0.01
is permissible like in the case of conventional controllers. Fig
10 shows dynamic responses for a FLC with 5 number of
triangular MFs with its appropriate K, for a sampling period of
7
LL
2 sec, considering several inputs such as (ACE & ACE),
d -0.02 1% PERTURBATIONIN THERMAL AREA
n C 0NTINU0US-DISC RETE M0DE (ACE & Af) and (ACE & hPt ). Results reveal that all
SAMPLING TIME = 2 SEC these three different pair of inputs provide responses close to
-0.03

-0.04
0 10 20 30 40 50
1
60
one another, thereby suggesting that any pair out of these three
pairs can be taken as inputs to the FLC.

time (sec)
1% PERTURBATION IN BOTH
(tl
Fig 7:- Af,=f for Different Number of Membership Functions.
x 10"
2
CONTINUOUS - DISCRETE MODE
-001
LL
-002 A __________ 2 SEC
J
Lu
n
__________ 4 SEC
C __________ 8 SEC
10 SEC
D _______.._

Q
I-
c
Lu 1% PERTURBATIONIN THERMAL AREA -0.05
0
I 10 20 30 40 50 3
7 MF CONTINUOUS - DISCRETE MODE time (sec)
SAMPLING TIME = 2 SEC
Fig 9:- Aft = f (t) with Fuzzy Logic Controllcr for different Sampling Periods

Fig 11 shows comparison of dynamic responses between

0 10 20 30 40
time (sec)
Fig 8:- AP,,,=f (t) for Differcnt Number of Membership Functions
area with appropriate value of Kt considering hydro area
uncontrolled. Similar investigations are carried out for FLC in
hydro-thermal area for 3, 5, 7 MFs, considering 1% step
perturbation in hydro area with thermal area uncontrolled.
50 60
conventional integral controller & FLC considering 1% step
perturbation in thermal area, for a sampling period of 2 sec.
Fig 12 shows comparison of dynamic responses between
conventional integral controller & FLC, considering 1% step
perturbation in hydro area, for a sampling period of 2 sec.

375
2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

area, there is a small steady state error in all the dynamic

0.02 r I
responses.
1% PERTURBATION IN HYDRO AREA
0.01 0.02 I
CONTINUOUS - DISCRETE MODE I

;;o
E
-0.01
P A ----------- A C E & d/dt (del ACE)
-0.02
6----------- A C E & d/dt (del f3
a
C -------- A C E & d/dt (del Pt)
-0.03

-0.04

-0.05
-005
-006
-?/\
-\
% ,
I
ntegral Controller

0 10 20 30 40 50 60 -0.07l
0
' 10 20 30 40 50 60
time [sec)
time (sec)
Fig 10:- Af2 = f (t) with Fuzzy Logic Controller for comparison of Inputs to
FLC. Fig 13:- Af, = f (t) for Integral Controller and Fuzzy Logic Controller.

Figures 13, 14, 15 show comparison of dynamic responses No value of feedback gain Kt could bring this small error to
between conventional integral controller & FLC, considering zero. However, if there is simultaneous step perturbations in
1% step perturbation in both thermal and hydro areas, for a both the areas, then presence of FLC in both areas guarantee
sampling period of 2 sec. zero steady state error. It is important to investigate the
structure of FLC, which will guarantee zero steady state error,
irrespective of the location of the perturbation in either area or
11, F,uzzy Controller
both areas.
,,r-d ~

0.02 I
h

IN THERMAL AREA
w
c3

-0.03
-0.04
0
't v 10 20 30 40 50
I
60
time (sec) I,!
J
Fig 1 1:- Afi = f (t) for Integral Controller and Fuzzy Logic Controller.
002 . I

Fuzzy Controller

loJ
10, I
N
LL
1% PERTURBATION IN HYDRO AREA
1 CONTINUOUS- DISCRETE MODE
n
Lu
1% PERTURBATION IN BOTH
THERMAL AND HYDRO AREA

CONTINUOUS - DISCRETE MODE

-0 05 I I
0 10 20 30 40 50 60
time (sec)

Fig 12:- Af2 = f (t) for Integral Controller and Fuzzy Logic Controllcr

Analyses of these responses clearly reveal that FLC provides

better dynamic responses. However it may be seen that when
-4 '
0 10 20 30 40 50
I
60
there are FLC in both the areas and perturbation in only one time (sec)
Fig 15:- = f (t) for Integral Controller and Fuzzy Logic Controller.

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2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong

V. CONCLUSIONS: VIII. BIOGRAPHIES

1. With conventional integral controllers present in both the
areas, it is permissible to adopt a higher sampling period Janardan Nanda (SM IEEE) is a professor with the
Department of Electrical Engineering, Indian
than a time period of 2 to 4 sec used in practice. Institute of Technology, Delhi, India, since 1973. He
2. The number of triangular MFs has an impact on dynamic has served as Head of Electrical Engineering
responses and hence needs to be properly selected. Department and Dean (UGS) at I.I.T. Delhi during
3. With FLC like in conventional integral controller, higher 1984-90. He is a fellow of Indian National Academy
of Engineering and a fellow of Indian national
sampling period than the normally used in practice is Science Academy. His field of Interest comprises
permissible without deteriorating dynamic responses for Power System Analysis, Dynamics, Control,
all practical purposes. Optimization and application of computational
intelligence to Power Svstem oroblems.
4. Inputs to FLC such as (ACE & A C E ) ,(ACE & Af ) and
(ACE & APt ) provide practically the same dynamic
responses.
5. Presence of FLC in both areas and small step perturbation
in one area provides a small steady state error in dynamic
responses.
6. Presence of FLC in both areas and small step perturbation
in both areas simultaneously guarantees zero steady state
error.
7. Presence of FLC in both areas and small step perturbation
in either area or in both areas simultaneously provides
better dynamic response than with conventional integral
controller.

VI. APPENDIX 1:
Nominal parameter pf hydrothermal system investigated:
f=60Hz RI = R2 = 2.4 Hdper unit MW
T,= 0.08 sec Ptie. max = 200 MW
T, = 10.0 sec K, = 0.5
H1=H~=5sec Prl = P,z = 2000 MW
Tt = 0.3 sec ISp= 1.0
I(d = 4.0 Ki = 5.0
T, = 1.0 sec D1 = D2 = 8.33*10” p.u. MW/ Hz

VII. REFERENCES:
Periodicals:
[I] C. Concordia and L.K.Kirchmayer, “Tie-Line Power and Frequency
Control of Electric Power Systcm - Part It”, AIEE Transaction, vol. 73,
Part- 111-A, April 1954, pp. 133-146.
[2] O.I.Elgerd, C.E.Fosha, “Optimum Megawatt- Frequency Control of
Multi-Area Electric Energy Systcm”, IEEE Transaction on Power
System and Apparatus, Vol. PAS-89, No. 4, Apr 1970, pp 556- 563.
[3] M.L.Kothari, B.L.Kaul and J.Nanda, “Automatic Generation Control of
Hydro-Thermal system”, journal of Institute of Engineers(India), vo1.6 I ,
Pt EL2, Oct 1980, pp 85-91.
[4] D.G.Ramey, J.W.Skooglund, “Detailed Hydro-governor representation
for system Stability Studics”, IEEE transaction on Power Apparatus and
Systcm, vol. - PAS-89, No- 1, Jan 1970, pp 106.
[5] G.A.Chown, R.C.Hartman, “Design and expcrience with a Fuzzy Logic
Controllcr for Automatic Generation Control (AGC)”, IEEE Transaction
on Power System, Vol.-13, No. - 3, Aug. 1998, pp 965-970.
[6] C.S.Indulkar, Baldev Raj, “Application of Fuzzy Controllcr to
Automatic Generation Control”, Electric Machine and Power System,
23:209-220, 1995.

Paper from Proceedings:

[7] J.Nanda, M.L.Kothari, P.S.Satsangi, “Automatic Generation Control of
an Interconnected hydrothermal system in Continuous and Discrete
modes considcring Generation Rate Constraints”, IEE Proc., vol. 130, pt
D, No. I , Jan. 1983, pp 455-460.

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