ELE8331:

Power System Control

Automatic Generation Control (AGC)
Prof. Nuraddeen Magaji
SYLLABUS
REAL POWER FREQUENCY CONTROL
Load &Freq Control: Turbine Governor, Divison of Load between Generators, Phase-shift
Transformer, Auto. Gen. Syst (Error control area)
REACTIVE POWER -VOLTAGE CONTROL
Gen. & Absorption of Reactive Power, Relation between voltage, power and reactive
power at a Node, Methods of Voltage Control, Voltage Stability, Voltage Control in
Distribution Networks, System Voltage Control, Reactive Compensation
COMPUTER CONTROL OF POWER SYSTEMS
Power System Security: Factors Affecting Power System Security, Contingency Analysis:
Detection of Network Problems., Linear Sensitivity Factors, Fast AC Power Flow Methods, and
Contingencies Sel.

1
 OUTLINE

• OVERVIEW OF AGC
• Turbine-Governor Model
• Generator Model
• Generator Block Diagram
• AGC for Multi Generators
• Tie-line Model
• AGC for Multi Areas
• Area Control Error (ACE)

2
 Purpose of AGC

• To maintain power balance in the system.

• Make sure that operating limits are not
exceeded:-
– Generators limit
– Tie-lines limit
• Make sure that system frequency is constant
(not change by load).

3
 Overview of AGC

• The control of generation and frequency is

commonly known as load frequency control (LFC)
or automatic generation control
(1) Isochronous speed governor
 An integral controller resulting in constant speed(applicable
to single machine or only one generator in a system
(2) Governor with Speed Droop
– speed regulation or droop is provided to assure proper
load sharing
– a proportional controller with a gain of 1/R

4
 ωr = rotor speed Y = valve/gate position
Pm = mechanical power
Figure 1.1Schematic of an isochronous governor

Figure 1.2 Response of generating unit with isochronous governor

 Figure 1.3 Governor with steady-state feedback

(a) Block diagram with steady-state feedback

(b) Reduced block diagram

Figure 1.4Block diagram of a speed governor with droop

 Automatic Generation Control
• Example control command

Controller
sensor
measurements
Turbine /Generator

disturbance
Load
ee392n - Spring 2011 Intelligent Energy Systems 7
Stanford University
Automatic Generation Control
 AGC Control Example
• AGC = Automated Generation Control
• AGC frequency control
generation command AGC

frequency measurement

disturbance

ee392n - Spring 2011 Intelligent Energy Systems

Load 9
Stanford University
 AGC for Single Area
Percent Speed Regulation or Droop

p ercen t sp eed o r fr e q u e n c y c h a n g e
P ercen t R  x 1 0 0
p ercen t p o w e r o u tp u t c h a n g e
   /  P  1 0 0
   FL 
where    NL  x 100
 0 
 NL  steady  state speed at no load
FL  steady  state speed at full load
0  nominal or rated speed
For example, a 5% droop or regulation means that a 5% frequency deviation causes
100% change in valve position or power output.
 System Modeling: Turbine-Governor Model
• Small signal analysis model, relating mechanical power to the control power
and the generator speed.


1
R G M s 

 PC - 1  PM
1  sTG 1  sTT 
+

Where ∆Pc = Small change in control setting power ∆ω= Small change in governor synchronous speed
∆PM= Small change in mechanical output power R= Regulation constant
GM(S)= Transfer function relating mechanical power to control signals

Speed-Power Relationship
From synchronous turbine-governor: small signal analysis model
PM  GM  s   PC   
 1 
 R 
• Atsteady state  s  0, GM  s   1 , we have
1
PM  PC  
R
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 Static Speed-Power Curve
 • From,
1
PM  PC  
Slope = -R
R
0 • Primary control: Immediate
change corresponding to
2
sudden change of load
∆PM
1 (frequency)
• Secondary control: Change in
setting control power to
PM maintain operating frequency.
• The higher R (regulation), the
PC1 = PM 1 PC 2 = PM 2
better.

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 Load Sharing by Parallel Units
 f  f
 P1  P1  P1   P 2  P 2  P 2 
R1 R 2
 P1 R
 2
 P2 R 1

Figure 11.11 Load sharing by parallel units with drooping governor characteristics

Figure 11.12 Response of a generating unit with a governor having speed-droop

characteristics
 System Modeling: Generator Model

• This model relates mechanical power to power

angle, ignore change of voltage.
PM 1 
Ms 2  Ds  T

• Note that power angle is not voltage angle ( i  i)

Vi  i
Vi  i + jX s
G
Ei  i -

14
 AGC for Single Generator

• Since     0       , we can draw

closed loop power control system as below.
 s
1
R
PC - 1 PM 1 
+ 1  sTG 1  sTT  Ms 2  Ds  T

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 AGC for Multi Generators
Power Balance Equation at Each Bus

• At each bus,
G1 G2
PGi  PDi  Pi
PG1 PG 2
Where P = Generator i power
PDi = Load power at bus I
Gi V1 V2
Pi = Power flow from bus i PD1 P1 P2 PD 2
• Consider small changes,
PGi  PDi  Pi
Assume that
V3
PDi  DLi i  PLi  DLi i  PLi PG 3
PD 3
Where PLi = Small change of load input G3
PDi = Small change of load power
i = Small change of voltage angle

PGi  DLi i  PLi  Pi 16

 Mechanical Power of Each Generator ( PGi )
• Linearized equation relating mechanical power
to generator power and generator speed.
PMi  M i i  Di i  PGi

Di= damping constant

Where PMi = Small change in mechanical power of generator i
PGi = Small change in electric power of generator i
 i
= small change in internal voltage angle of generator
From PGi  DLii PLi Pi PMi  Mii  Dii  DLii PLi Pi
~
Di  Di  DLi  P Li      i

 P Mi - 1 1 
+
i

M is  D s
-
i

 Pi 17
AGC for Multi Generators: Block Diagram

Change in tie-line
Pi power flow
PCi PMi + i
GMi s  GPi s 
-

+
- -
PLi
1
Ri

GPi s   GMi s  
 
1 1
~
M i s  Di 1  sTGi 1  sTTi 
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 Tie-line Model (Pi )
Pi  Vi Vk Bik sini k   Bik i k 
n n
power flow equation
1
Then, for small change   
k1 k1

Pi   Bik  i   k    Tik  i   k  s

n n

• From
 Pi   T ik    i    k    ik    i    k 
k 1 k 1
n n
T
• We have, k 1 k 1 s

i 1  i
s
Pi +
+

+ - +
+

Tik  k - +

Where Tik is called stiffness or synchronizing power coefficient 19

 AGC for 2-Generator: Block Diagram
Governor 1 sense 1
speed ↓, try to ↑
mechanical power
R1 PL1
PC1 PM 1 +
GM 1 s  GP1 s 
- Frequency 1 ↓
1/ s
+ 1 1
- -
P1  P12
+
Transfer power 12 ↑ Different phase angle ↑
Steady state: New
(lower) system T12
Frequency -1
P2  P21
-

PC 2 PM 2+ 2

Frequency 2 ↓
 2
GM 2 s  GP 2 s 
-
1/ s
+
- -
Governor 2 sense 1 PL 2 Load ↑
speed ↓, try to ↑
mechanical power R2
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 Steady State Frequency Calculation:
2 generators
• Consider the frequency at steady state,
~
PM 1  D11  PL1  Ptieline
~
PM 2  D2 2  PL 2  Ptieline
• But,   1  2 , PM 1   1  ,and P   1 
R1 R2
• Then,
M2
 PL1  PL 2
 
~ ~ 1 1 
 D1  D2   
 R1 R2 

21
 AGC for Multi Areas
• Simplified Control Model
• Area Control Error (ACE)

• Generators are grouped into control areas.

• Consider
– An area as one generator in single area, and,
– Tie-lines between areas as transmission lines
connecting buses in single area.
We can apply the same analysis to multi-area!!
• However, we have to come up with frequency-
power characteristics of each area.
• Actual application of this model is for power pool
operation. 22
 AGC for Multi Areas

• During transient period, sudden change of load causes

each area generation to react according to its frequency-
power characteristics.
This is “called primary control”.
• This change also effects steady state frequency and tie-
line flows between areas.
• We need to
– Restore system frequency,
– Restore tie-line capacities to the scheduled value, and,
– Make the areas absorb their own load.
This is called “secondary control”.
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 Area Control Error (ACE)

• Control setting power of each area needs to be

adjusted corresponding to the change of
scheduled tie-line capacity and change of
system frequency.
• ACE measures this balance, and is given by,
ACE1  P12  B1
ACE2  P21  B 2 

for two area case.

 1
Where Bi = Frequency bias setting of area i (>0) and Bi   DLi  
 Ri 

24
 ACE: Tie-Line Bias Control

• Use ACE to adjust setting control power, PCi , of

each area.
• Goal:
– To drive ACE in all area to zero.
– To send appropriate signal to setting control power, PCi

• Use integrator controller so that ACE goes to

zero at steady state.

25
 AGC for 2-Area with Tie-line Bias Control:
Block Diagram
1
B1 1 Frequency 1 ↑

ACE 1 = 0
R1 PL1 Frequency 1 ↓
+
K PC1 PM 1
GM 1  s  GP1 s 
ACE1 -
 1 +
s + 1
1/ s
 1
P+12
- -
P1  P12Different phase angle ↓+
Transfer power 12 ↓
T12
Transfer power 12 ↑
-1 -1 Different phase angle ↑
-
P2  P21
Setting control power 2 ↑
P21+  2
K PC 2 PM 2 2 1 / s
GM 2 s  G P 2 s 
ACE2 -
 2 +
s +
+ - - Frequency 2 ↓
PL 2 Load 2 ↑
ACE 2 < 0
B2
Governor 2 sense 1 Frequency 2 ↑
speed ↓, try to ↑
2 mechanical power R2 Steady state:
Governor 2 sense
speed ↑, try to ↓ Maintain Frequency
mechanical power Set control power 2 > 0
26
 AGC for 2-Area with Tie-line Bias Control :
Static Speed-Power Curve
• Load in area 2 increases.

• Frequency of both area
drops.
• ACE makes Control 0
power of area 2  
2’
2
increases.
1
• Steady state is reached
+ = Change in load 2
when frequency is back
at the operating point and
PM
generator in area 2 take
its own load. PM 1 PM 1 PM 2 PM 2 PM 2
PM 1
27
 Example 1

• Two-area system,

A B

PGA0  PLA0  1000 MW PGB0  PLB0  10,000 MW

RA  0.015 rad per sec/MW DLA  DLB  0 RB  0.0015 rad per sec/MW
PLA  10 MW

• Find change in frequency, ACE, and appropriate

control action.

28
 Example 1: Frequency Calculation

• From, PMA  DLA A  PLA  PAB  PLA  PAB

PMB  DLB  B  PLB  PBA  PBA
• And,
  1  2
• And,
1 1
P   
A
P   
B

RA RB
M M

• We have,
 PLA  10
    0.0136 rad per sec
 1 1  1

1
  
 RA RB  0.015 0.0015
29
 Example 1 ACE Calculation

• First, find PAB from

  0.0136  0.9091 MW
1 1
P  
A
 
RA 0.015
M

PMA  PLA  PAB  PAB  PMA  PLA  9.091 MW

PBA  PAB  9.091 MW
• Then,
Then,

 0.0136   10 MW
1 1
ACEA  PAB    9.091 
RA 0.015

 0.0136   0 MW
1 1
ACEB  PBA    9.091  30
RB 0.0015
 Example 1: Control Action

• ACE indicates each area action to the change of

load.
• ACE of area B is zero, this means that nothing
should be done in area B.
• ACE of area A < 0, this means that area A
should increase the setting control power by
– (-10) = 10 MW to cover its own load.

31