AU Powerlab

USER REFERENCE MANUAL

FOR
LOAD FREQUENCY DYNAMICS OF SINGLE AND TWO AREA
POWER SYSTEMS
(DOCUMENT NO. ANLFD – URM – 1.0)

MAY 2004
ANNA UNIVERSITY
CHENNAI – 600 025
 CONTENTS

Page No.

1. ABOUT THE PROGRAM

1.1 Introduction 1-1

1.2 Utility of the Program 1-1
1.3 Features of the Program 1-2
1.3.1 Single-area load-frequency control 1-2
1.3.2 Two-area load-frequency control 1-2

2. GETTING STARTED
2.1 Introduction 2-1
2.2 The Opening Window for AU Powerlab 2-1
2.2.1 Menu bar Commands and its Uses 2-3
2.2.2 Tutorial option 2-4
2.2.3 Running the program with packaged sample data 2-5
2.2.4 Running the program with edited sample data 2-7
2.2.5 Viewing results 2-7
2.2.6 Editing existing project data and saving in a file 2-10
2.2.7 Running the program with existing project data / created data 2-10
2.2.8 Creation of a new data file 2-11

3. TWO AREA SYSTEM

3.1 The Opening Window for AU Powerlab 3-1
3.2 Opening Window for Two Area 3-1
3.2.1 Tutorial option 3-1
3.2.2 Running the program with packaged examples 3-1
3.2.3 Running the program with edited example data 3-4

3.2.4 Viewing results 3-4

3.2.5 Editing existing project data and saving in a file 3-7
3.2.6 Creation of a new data file 3-8
4. SAMPLE SYSTEM STUDY

4.1 Data for Single-Area System 4-1

4.2 Data for Two-Area System 4-1
4.3 Sample Output File for Single –Area System 4-2
4.4 Sample Output File for Two-Area System 4-2
 CHAPTER 1. ABOUT THE PROGRAM

1.1 Introduction
Active power control is one of the important control actions to be taken to match the
system generation with the continuously changing system load in order to maintain
the constancy of frequency, which reflects the quality of the supply. A change in
system load causes a change in system frequency which initiates the primary speed
control action (Governor control) resulting in the generating units on speed governing
taking up the change in load arresting further change in frequency. Restoration of
frequency to nominal value requires supplementary control action which adjusts the
load-reference set points of selected generating units. The primary objectives of
automatic generation control (AGC) are to regulate frequency to the specified
nominal value and to maintain the interchange power between control areas at the
scheduled values by adjusting the output of selected generators. This function is
referred to as load-frequency control (LFC). This manual provides the details of
using the software module “Load-Frequency Control” which has been mainly
developed for use in laboratory environment.

1.2 Utility of The Program

The following are the two sub-modules available under the main module:
(i) Single-Area Load-Frequency Control.
(ii) Two-Area Load-Frequency Control.

Both the above modules essentially carry out simulation of Load-frequency dynamics
of an isolated power system and interconnected two-area power system for different
operating conditions, disturbances and different modes of control. The simulation
help in understanding the load-frequency dynamics of the system being studied and
also help in designing suitable control methodology and optimal control parameters to
get the best response.

The module provides the time response plot of the following variables during the
simulation period when the system in subjected to step load changes

(i) Frequency deviation of the areas

(ii) Variation in turbine power of the regulating generating units
(iii) Tie-line net interchange deviation

The module can be used to study the effect of the following control modes and to
choose the best control strategy for a specific situation.

(i) Only governor control (free Governor action)

(ii) Flat frequency control
(iii) Flat Tie-line control
(iv) Frequency bias tie-line control

The modules can be used to choose the best set of control parameters to make the
LFC a robust one.

The module can be used for power system operator training.

1-1
1.3 Features of the Program
1.3.1 Single-area load-frequency control
Four state variable model is used. The four state variables are
i. Frequency deviation
ii. Change in turbine power
iii. Change in steam / water valve position
iv. Load reference setting

Numerical integration is carried out using Runge-Kutta fourth order method.

The simulation can be carried out for a step change in area load with either one of the
following options:

(i) with the integral control

(ii) without the integral control (that is , with only governor control)

The time responses of the frequency deviation and the turbine power change are
available in table form and plots. In addition, the mean of the sum-squared Error
(MSSE) of frequency deviation which can be taken as an index for the effective
performance of the controller is also presented.

1.3.2 Two-area load-frequency control

Nine-state variable model is used. The state variables are
(i) frequency deviation of the areas (2)
(ii) change in turbine power of the areas (2)
(iii) change in valve / gate position (2)
(iv) Load-reference setting of the areas (2)
(v) Tie-line power deviation (1)

Numerical integration is carried out using Runge-Kutta fourth order method. The
simulation can be carried out for a step change in load of either one of the areas or
both the areas using any of the following control modes

(i) governor only (no LFC)

(ii) Flat frequency control
(iii) Flat tie-line control
(iv) Frequency bias tie-line control

The time response of the frequency deviations, the turbine power changes, tie-line
power deviation are available in table form and plots. In addition, the Mean Sum-
Squared Error (MSSE) of frequency deviations and tie-line power deviation are also
presented.

1-2
 CHAPTER 2. GETTING STARTED

2.1 Introduction
This chapter describes the procedure of accessing the specific program modules Load
Frequency Control-Single Area and Load Frequency Control-Two Area in AU
Powerlab software package. Both these modules have features for creating new data
file, editing already stored sample system data, running the program and viewing the
results. The details of the procedure to use the features are given in the following
sections.

2.2 The Opening Window for AU Powerlab

After the successful installation of the AU Powerlab software package, the AU
Powerlab icon will appear on the desktop. The opening window for AU Powerlab
and the Menu screen for the ‘Load-Frequency Control’ module are obtained as
follows.

1. Click the AU Powerlab icon on the desktop. A window carrying Anna University
frontage will appear on the screen and will disappear within few seconds. Then
the student Log - on Window will appear (fig 2.1)

Fig 2.1 Student Log-on Window

2. Enter student information in the respective boxes. After entering all information,
click Enter button. Then the opening window for AU powerlab will appear (Fig
2.2)
2-1
 Fig 2.2 Opening Window for AU Powerlab

3. Click the button ‘Load Frequency Control’ in the opening window. Then another
window containing the sub-modules in ‘Load Frequency Control’ will appear (Fig
2.3)

Fig 2.3 Opening Window for Load Frequency Control Sub-modules

2-2
4. Click one of the buttons ‘Single-Area’ or ‘Two -Area’ in the wind ow depending
upon the module you require. Then the menu screen for this module will appear
(Fig 2.4). Assume that the Single Area module is chosen. A menu bar with five
commands appears at the top of the window. The uses of these commands are
explained below.

Fig 2.4 Opening Window for LFC Single Area

2.2.1 Menu bar Commands and its Uses

Main menu Submenu

Tutorial Example Enables to select a sample data from the list of

packaged example and edit or modify or run the
program with the data

Manuals
User Manual Enables to view the User Reference Manual
Laboratory Manual Enables to view the Laboratory Manual

Project New Enables creation of a new input data file for a

new Problem

Existing Enables selection of an existing data for editing,

or for running the program with the data

Exit Project Enables to exit from the project and return to

opening window
2-3
Edit Enables to edit stored data file

Run Enables running of the program with packaged

example data, or existing data or newly created
data

View Output Enables to view the output results of the latest

run of the program

Plot Enables to view the plots of the latest run of the

program

2.2.2 Tutorial option

1. Click the button Tutorial. A dropdown menu with Example and Manuals appear.
Then click Manuals. A dropdown menu with User Manual and Laboratory Manual
(Fig 2.5) appears.

Fig 2.5 Dropdown Menu Bar for Manual Option

2. Laboratory Manual option displays the Laboratory Manual for the experiment
‘Load Frequency Dynamics of Single and Two Area Power Systems’

3. User Manual option displays the User Reference Manual for Load-Frequency
Control Module

4. Point to Example option then the packaged example is displayed, i.e data created
for sample system.

2-4
2.2.3 Running the program with packaged sample data
A sample system data file is prepared and stored in the program. The user can use
this sample data. The sample data may be chosen, viewed, edited or modified and
stored in a separate file and used for running the program. The procedure for using
the sample system data is explained below.

1. Click the tutorial button and point to Example. Then the list of packaged sample
data file name appears. (Fig 2.6). Click the sample data. Then the control returns
to the opening window (Fig 2.4). The Edit, Run and View buttons are now
enabled.

Fig 2.6 Dropdown Menu bar for Tutorial Option -Example

Now the program can be executed with the selected data directly, by clicking the Run
button. But the user may not be aware of the details of data and the various options
used in the data. Hence it is always better to view the data, choose appropriate
options and give proper title for the study before running the program with the
selected data. The procedure for editing the selected data and running the program
with the data is given in this section.

2. Click the edit button. Then the window for input data editing will appear (Fig 2.7)

2-5
 Fig. 2.7 Window for Editing Sample Data for Single Area LFC

A copy of the chosen sample system data file is transferred to a temporary file. The
changes in the data are made in the temporary file only. Before exiting the program; a
copy of the changed data must be saved in a new file name.

3. Type the new data in the respective boxes. After completing the change of data,
click save button. Then file save – dialogue window will appear (fig 2.8). Type a
name for the file to save the changed data and click the save button. The changed data
will be stored in the file name and the control will return to main window.

2-6
 Fig. 2.8 Window for Saving Edited Data

2.2.4 Running the program with edited sample data

Click Run button. Then the program will be executed and a message. ‘Program
completed Successfully’ appears. Click ok to complete the process and return to
opening window. The procedure to view the output is given in the next section.

2.2.5 Viewing results

The output of the latest run will be stored in the output file and can be viewed using
view command. The previous output will be erased and the output of the latest run will
be stored in the output file. The output of the latest run will also be erased when the
session is completed and the user quits the program. The output results can be viewed
as follows.

1. Click the view button. Then a drop down menu with Output and Plot will
appear. Now point to Plot button. A dropdown menu appears. (Fig 2.9)

2-7
 Fig 2.9 Dropdown Menu for Plot

2. Click the output button. Then the conventional text format output will appear
(Fig 2.10.a). The student can take print out of this output.

Fig. 2.10.a Text Format Output

2-8
3. Again point to Plot. Then a dropdown menu with Frequency Deviation and
Turbine Power Deviation will appear. Click the button depending upon the
plot you require, then the plot will appear (Fig.2.10.b and 2.10.c). A printout
of the plot can be taken.

Fig 2.10.b Frequency Deviation

Fig 2.10.c Turbine Power Deviation

2-9
2.2.6 Editing existing project data and saving in a file
Data file created by user can be edited or data may be changed and stored either in the
same file name or in a new file name and the program may be run with this / changed
data. The procedure to carry out the above tasks is explained below.

1. Click project button, a dropdown menu with New, Existing and Exit Project will
appear.

2. Point to Existing button and click. Then a file open-dialogue window will appear.
Select the desired file and click open button. The control will return to opening
window.

3. Click edit button. Then the window for editing input data will appear.

4. Type the new data in the respective boxes. After completing the change of data,
click save button. Then the file-save-dialogue window will appear (fig 2.8). Type a
name for the file to save the data and then click the save button. The changed data
will be saved in the file name and the control will return to main window.

5. For running the program with the existing project data or edited data and viewing
results refer section 2.2.4 and 2.2.5

2.2.7 Running the program with existing project data / created data

1. Point to project and click, then a dropdown menu with New, Existing and Exit
Project will appear.

2. Click Existing button. Then a file open dialogue window will appear. Click the
name of the desired data file and click open button. Then the control will return to
opening window.

2-10
 Fig 2.11 Window for Selecting Existing Data

3. Click run button; then the program will be executed and a message ‘Program
Completed Successfully’ appears. Click ok button to complete the process and
return to opening window. To view the output refer section 2.5

2.2.8 Creation of a new data file

The procedure for creation of a new input data file is explained in this section.

1. Click the button project. Then the dropdown menu New, Existing and Exit
project will appear.

2. Point to new and click Data Preparation. Then the window for entering input
data appears. Fig 2.12.

2-11
 Fig. 2.12 Window for Input Data Entry

3. Enter the data in the respective boxes. After entering all the data; choose the
option for integral controller. Now click the save button. Then the file-save
dialogue window for storing newly created data will appear.

4. Type a file name to store the newly created data and click save button. The
data will be saved in the file name given and control will return to opening
window
5. To run the program with newly created data, click Run button. Then the
program will be executed and a message ‘Program completed Successfully’
will appear. Click ok button to end the process. To view the output, refer
section 2.2.5

2-12
 CHAPTER 3 TWO AREA SYSTEM

3.1 The Opening Window for AU Powerlab

The opening window for AU Powerlab (fig 2.2) and the window for Load Frequency
Sub-modules (Fig 2.3) are obtained by following the procedure explained in section
2.2. of chapter 2.

3.2 Opening Window for Two Area

Click the Two Area button in the opening window for Load Frequency Control sub-
modules. Then the opening window for LFC Two Area will appear (Fig 3.1).
A menu bar with five commands is located at the top of the window.

Fig 3.1The Menu Bar Commands and its Uses

The uses of these commands are the same as that given in section 2.2.1 of chapter 2

3.2.1 Tutorial option

The operations are the same as described in section 2.2.2 of chapter 2

3.2.2 Running the program with packaged examples

A sample system data file is prepared and stored in the program. The user can use
this sample data. The sample data may be chosen, viewed, edited or modified and
stored in a separate file and used for running the program. The procedure for using
the sample data is given below.
3-1
1. Click the tutorial button and point to Examples. Then the list of packaged example
appears (Fig 3.2). Click the example data. Then the control returns to the opening
window (Fig 3.1)

Fig.3.2. Dropdown menu for packed sample data

Now the program can be executed with the selected data directly, by clicking the Run
button. But the user may not be aware of the details of data and the various options
used in the data. Hence it is always better to view the data, choose appropriate option
and give proper title for the study before running the program with the selected data.
The procedure for editing the selected data is given below.

2. Click the Edit button. Then the window for input data editing will appear (Fig 3.3)

3-2
 Fig. 3.3 Window for Editing data

A copy of the chosen sample system data file is transferred to a temporary file. The
changes in the data are made in the temporary file only. Before exiting the program;
the copy of the changed data must be saved in a new file name.

Type the new data in the respective boxes. After completing the change of data, click
save button. Then file save – dialogue window will appear (fig 3.4). Type a name for
the file for storing the data and click the save button. The changed data will be saved
in the file name and the control will return to main window.

3-3
 Fig.3.4 File Save Dialogue Window

3.2.3 Running the program with edited example data

Click Run button. Then the program will be executed and a message. ‘Program
completed Successfully’ appears. Click ok to complete the process and return to
opening window.

3.2.4 Viewing results

The output of the latest run will be stored in the output file and can be viewed using
view command. The previous output will be erased and the output of the latest run will
be stored in the output file. The output of the latest run will also be erased when the
session is completed and the user quit the program. The output results can be viewed as
follows.

1. Click the view button. Then a drop down menu with Output and Plot will
appear. Now point to Plot button. A dropdown menu will appear. (Fig 3.5)

3-4
 Fig. 3.5 Dropdown Menu for Plot

2. Click the output button. Then the conventional text format output will appear
(Fig 3.6.a). The student can take print out of this output.

Fig.3.6.a Text Format Output

3-5
3. Again point to Plot. Then a dropdown menu with Frequency Deviation,
Turbine Power Deviation and Tie – line Power Deviation will appear. Click
the specific dropdown menu depending upon the plot you require (Fig 3.6.b,
3.6c and 3.6.d). A printout of the plots can be taken.

Fig. 3.6.b Frequency Deviations

Fig 3.6.c Turbine Power Deviations

3-6
 Fig 3.6.d Tie – line Power Deviation

3.2.5 Editing existing project data and saving in a file

Data file created by the user can be edited or data may be changed and stored either in
the same file name or in a new file name and the program may be run with this edited
/ changed data. The procedure to carry out the above tasks is explained below.

1. Click project button, a dropdown menu with New, Existing and Exit Project will
appear.

2. Point to Existing button and click. Then a file open-dialogue window will appear.
Select the desired file and click open button. The control will return to opening
window.

3. Click edit button. Then the window for editing input data will appear.

4. Type the new data in the respective boxes. After completing the change of data,
click save button. Then the file-save-dialogue window will appear. Type a
name for the file to save the data and then click the save button. The changed data
will be saved in the file name and the control will return to main window.

5. For running the program with the existing project data or edited data and viewing
results refer section 2.2.4 and 2.2.5

3-7
3.2.6 Creation of a new data file

The procedure for creation of a new input data file is explained in this section.

1 Click the button project. Then the dropdown menu New, Existing and Exit
project will appear.

2 Point to new and click Data Preparation. Then the window for entering input
data appears. Fig 3.7.

3 Enter the data in the respective boxes. After entering all the data; choose the
option for integral controller. Now click the save button. Then the file-save
dialogue window for storing newly created data will appear.

4 Type a file name to store the newly created data and click save button. The
data will be saved in the file name given and control will return to opening
window

5 To run the program with newly created data, click Run button. Then the
program will be executed and a message ‘Program completed Successfully’ will
appear. Click ok button to end the process. To view the output, refer section
2.2.5

Fig 3.7 Window for New Data Entry

3-8
 CHAPTER 4 SAMPLE SYSTEM STUDY

4.1 Data for Single-Area System

The data for single-area power system taken up for simulation are given below:

Rated capacity of the area, Pr = 2000 MW

Nominal operating load, PD0 = 1000 MW
Nominal frequency, f 0 = 50 hz
Inertia constant of the area, H = 5 sec
Speed regulation (governor droop)
of all regulating generators, R = 3 percent
Governor time constant, TG = 0.2 sec
Turbine time constant, TT = 0.5 sec
Load - damping constant , D = 1 percent
Gain for the Integral control ,KI = 0.17
Load increase = 20 MW

Carry out the simulation for a total period of 20 sec by taking a time step of
0.01 sec and obtain the output in text format and the plots:
Area frequency deviation and change in turbine - power output.

4.2 Data for Two - Area System

The data for two–area system taken up for simulation are given below:
Both the areas are identical and the data for both the areas are the same as that
given in section 4.1. The load increase of 20 MW is assumed to be only in
area 1.

Tie-line data :
The tie-line flow prior to disturbance is given by

  0  0
P120 = Pmax0 1 - 2 ) = Pmax0 
 12
0

Due to load increase, the tie line flow changes to P12 given by
P12 = P120 +  12
 !!#"
$%&'($)%&'*"+-,/.
12 given by
. 0
12 2
0 1 12 + 3 1 12

The change in tie line flow 34 12 is given by

354 12 = Ps 3 1 12

6879;:
where Ps = Pmax0 1 12
0
)

Pmax0 = Tie-line capacity

0
1 12 = Pre-disturbance line phase angle
Ps = Synchronising power co-efficient

4-1
Tie – line capacity, Pmax = 100 MW
0
Tie- <>=(?@$A%?B'<(@#CED 12 = 30 degrees

Frequency Bias Parameter:

It is preferable to choose the frequency bias parameter, B to be the same as ‘Area

FHGJI*KMLINO%P/Q ISRUTVMNR
IWXV!I8YZYZ[(O#[I%NE\^]_-`FaQ WXbJc d efhgijfkg>l;m'gn!o%p/qEr

s tvuxwzy
{|

The international practice is to specify the frequency bias parameter B in

}~€ƒ‚„-…‡†xˆ „Š‰5‹ŒxŠŽ!S‘>Œ“’*‘>”•Ž–ZŒ8—Mh˜–JŒ#”š™œ›-Žk!Œ“žZŒ*Š˜Ÿk›-‹˜>”š'Ÿh˜ ›J„†“ŒŸ¡*Œ$¢¤£H¥$¦¨§Š˜”

computed as follows:

D = 1 percent = 1 percent change in load / 1 percent change in frequency

= (1/100) * 1000 = 20 MW / HZ
(1/100) * 50

= 2 MW / 0.1 HZ

R = 3 percent = 3 percent change in frequency or speed / 100 percent change in load

(1/R) = 1000 = 2000 = 666.7 MW / HZ

(3/100) * 50 3

= 66.67 MW / 0.1 HZ
§ ©vª/«2¬!¬­®¬'¯°©2¬h±'­²¬E¯x³´¶µ¸·h­º¹š»½¼

¾
©À¿©À¬±'­®¬'¯x³´Áµ¸·­-¹Â»¼

4.3 Sample Output File for Single-Area System

Simulation was carried out using the module for the single-area system whose data is
given in sec.4.1. The keyed-in data for this system is shown in Fig 2.7. It may be
noted that the ‘Integral Controller’ is chosen. Then the module was run. The output in
text format obtained is shown in Fig 2.10.a and the plots obtained are displayed in Fig
2.10.b and Fig 2.10.c.

4.4 Sample Output File for Two-Area System

Simulation was carried out using the module for the two-area system whose data is
given in section 4.2. The keyed-in data for this system is shown in Fig 3.3. It may be
noted that the ‘Tie-Line Bias Control’ is chosen. Then the modules was run. T he
output in text format obtained is shown in Fig 3.6.a. and the plots obtained are
displayed in Fig 3.6.b, 3.6.c and 3.6.d.

4-2