Simulation of Two Area Control

System using Simulink

A Major Project Report

Submitted in partial fulfillment of
the requirements for the
Degree of Bachelor of Technology
Under Biju Pattnaik University of Technology

By

Vikas Kumar Sabata Roll #ECE 200425380

Santosh Kumar Tripathy Roll #ECE 200413459

March - 2008

Under the guidance of

Mr. O. P. Suresh
 NATIONAL INSTITUTE OF SCIENCE & TECHNOLOGY
Palur Hills, Berhampur, Orissa - 761 008, India

ABSTRACT

The aim of this project “Simulation of two area control system using simulink” is to
construct the SIMULINK block diagram and obtain frequency response for each area
with inclusion of the ACEs. The two area system is a form of multiarea system of
AGC, where a group of generator is closely coupled internally and swing in unison.
Furthermore, the generator turbine tends to have the same response characteristics.
Such a group of generators are said to be “coherent” .Then it is possible to represent
the whole system, which referred to as a “control area”. In two area system,
generation and load demand of two domains is dealt. Any load change within the area
has to be met by generators in both the area. Thus we can maintain the constant
frequency operation irrespective of load change.

ii
ACKNOWLEDGEMENT

We express our deep sense of gratitude to Mr. O.P.Suresh, Advisor, B.Tech Project
Coordinator for his valuable guidance and constant unfailing encouragement for
completing this project report.

We thank our Examiners Mrs. Sasmita Padhi and Ms. P.Sunita for their suggestions
and guidelines to make some improvements in the project.

We are also grateful to Mr. G.V.Kiran Kumar, Format Examiner for his help in
editing this report.

Finally we thank Mr. Sangram Mudali, Director, for his continued drive for better
quality in everything that happens at NIST. This report is a small contribution towards
the greater goal.

Vikas Kumar Sabata

Roll # 200425380

Santosh Kumar Tripathy

Roll # 200413459

i
TABLE OF CONTENTS

ABSTRACT...................................................................................................................ii
ACKNOWLEDGEMENT..............................................................................................i
TABLE OF CONTENTS...............................................................................................ii
LIST OF FIGURES......................................................................................................iii
LIST OF TABLES........................................................................................................iv
1. INTRODUCTION......................................................................................................1
2. BASIC GENERATOR CONTROL LOOPS............................................................3
3. LOAD FREQUENCY CONTROL............................................................................5
3.1 GENERATOR MODEL......................................................................................5
....................................................................................................................................5
3.2 LOAD MODEL....................................................................................................6
3.3 PRIME MOVER MODEL...................................................................................7
3.4 GOVERNOR MODEL........................................................................................7
4. AUTOMATIC GENERATION CONTROL...........................................................10
4.1 AGC IN A SINGLE AREA SYSTEM..............................................................11
4.2 AGC IN MULTIAREA SYSTEM.....................................................................12
4.3 TIE-LINE BIAS CONTROL.............................................................................13
5. SIMULINK .............................................................................................................15
5.1 WHAT IS SIMULINK ............................................................................15
5.2 MODELING PROCESS....................................................................................16
1. DEFINING THE SYSTEM.............................................................................17
2. IDENTIFYING SYSTEM COMPONENTS...................................................17
3. MODELING THE SYSTEM WITH EQUATIONS........................................18
4. BUILDING THE SIMULINK BLOCK DIAGRAM.......................................18
5. RUNNING THE SIMULATION.....................................................................18
6. VALIDATING THE SIMULATION RESULTS............................................18
.................................................................................................................................18
5.3 STARTING SIMULINK....................................................................................19
5.3 SIMULINK LIBRARY BROWSER.................................................................20
6. TWO AREA CONTROL SYSTEM .......................................................................20
7. SIMULATION RESULT.........................................................................................24
8. CONCLUSION........................................................................................................25
..............................................................................................................................25
REFERENCE ..............................................................................................................26
APPENDIX A..............................................................................................................24
A.1 NOMENCLATURE..........................................................................................24

ii
LIST OF FIGURES
Figure 2.1 Schematic diagram of LFC and AVR of a synchronous generator .............3
Figure 3.1 Transfer function model for generator model .............................................6
Figure 3.2 Transfer function model for load model....................................................6
Figure 3.3 block diagram for a simple nonreheat steam turbine....................................7
Figure 3.4 Speed governing system...............................................................................8
Figure 3.5 LFC block diagram of an isolated system ..................................9
Figure 4.1 AGC for an isolated power system..........................................................11
..............................................................................................................................11
Figure 4.2 Equivalent network for two area power system..........................................12
Figure 4.3 Two area system with primary LFC loop...................................................13
Figure 4.4 AGC block diagram for two area system....................................................14
Figure 5.1 Simulink library browser............................................................................19
Figure 6.1 Simulation block diagram...........................................................................23
Figure 7.1 Simulation result.........................................................................................24

iii
LIST OF TABLES

Table 5.1.......................................................................................................................20
Table 6.1 ......................................................................................................................21

iv
SIMULATION OF TWO AREA CONTROL SYSTEM USING SIMULINK

1. INTRODUCTION

The primary purpose of an ac electric power system is to move electric power from
the sources of the electric power, the generators, to the consumers of the electric
power, the loads, through the wires joining the two, the transmission and distribution
system. Power systems come in a variety of sizes, ranging in size from those with a
single small generator and perhaps a handful of loads to the gigantic. For example,
except for a few islands and some small isolated systems, the entire electric grid in
North America is really just one big electric circuit. This grid encompasses billions of
individual electric loads, tens of millions of miles of wires, and thousands of
generators.

The objective of control strategy is to generate and deliver power in an interconnected

system as economically and reliably as possible while maintaining the voltage and
frequency within permissible limits. Changes in real power affect mainly the system
frequency, while reactive power is less sensitive to changes in frequency and is
mainly dependent on changes in voltage magnitude. Thus, real and reactive powers
are controlled separately. The “load frequency control” (LFC) loop controls the real
power and frequency and the “automatic voltage regulator” (AVR) loop regulates the
reactive power and voltage magnitude. Load frequency control (LFC) has gained in
importance with the growth of interconnected systems and has made the operation of
interconnected system possible.

While an interconnected system is really just on big electric circuit, it has historically
been divided into groupings known as “operating areas” (or control areas). Typically,
each operating area corresponded to the portion of the grid owned by a single utility.
Lines joining different operating areas are known as “tie-lines”. The net flow of
power out of an area is then defined as its “interchange”. Since it costs money to
generate electric power, a key aspect of power system operations is concerned with
insuring that each area's net interchange is equal to its specified "scheduled" value.
This scheduled value is simply the sum of all the power transfers for the area, with a
sign convention that power exported from the area (i.e., sold) is considered positive.

1
SIMULATION OF TWO AREA CONTROL SYSTEM USING SIMULINK
As long as the system frequency is equal to its specified value (the assumption here),
the difference between an area's actual interchange and its scheduled interchange is
known as the “area control error” (ACE) (the area control error also includes a term
dependent on the deviation in the system frequency from the specified value; this
frequency-dependent term is not discussed here). The ACE is the single most
important number associated with control operations; it is continuously monitored.
Anytime the ACE is negative the area is “undergenerating” and needs to increase its
total generation. Conversely, if the ACE is positive, the area is “overgenerating” and
needs to decrease its generation.

Over the last several decades, practically all control areas have switched to an
automatic process known as “automatic generation control” (AGC). AGC
automatically adjusts the generation in an area to keep the ACE close to zero, which
in turn keeps the net area power interchange at its specified value. Since the ACE has
a small amount of almost random "ripple" in its value due to the relentlessly changing
system load, the usual goal of AGC is not to keep the ACE exactly at zero but rather
to keep its magnitude close to zero, with an “average” value of zero.

Modern power system network consists of a number of utilities interconnected

together & power is exchanged between utilities over tie-lines by which they are
connected. Automatic generation control (AGC) plays a very important role in power
system as its main role is to maintain the system frequency and tie line flow at their
scheduled values during normal period and also when the system is subjected to small
step load perturbations. Many investigations in the field of automatic generation
control of interconnected power system have been reported over the past few decades.
Literature survey shows that most of the earlier work in the area of automatic
generation control pertains to interconnected thermal system and relatively lesser
attention has been devoted to automatic generation control (AGC) of interconnected
hydro-thermal systems involving thermal and hydro subsystems of widely different
characteristics]. These investigations mostly pertain to two equal area thermal systems
or two equal areas hydrothermal systems considering the system model either in
continuous or continuous discrete mode with step loads perturbation occurring in an
individual area.

2
SIMULATION OF TWO AREA CONTROL SYSTEM USING SIMULINK

2. BASIC GENERATOR CONTROL LOOPS

In an interconnected power system, load frequency control (LFC) and automatic

voltage regulator (AVR) equipment are installed for each generator. Figure2.1
represents the schematic diagram of the load frequency control (LFC) loop and the
automatic voltage regulator (AVR) loop. The controllers are set for a particular
operating condition and take care of small changes in load demand to maintain the
frequency and voltage magnitude within the specified limits. Small changes in real
power are mainly dependent on changes in rotor angle “δ” and, thus, the frequency.
The reactive power is mainly dependent on the voltage magnitude (i.e., on the
generator excitation). The excitation system time constant is much smaller than the
prime mover time constant and its transient decay much faster and does not affect the
LFC dynamics. Thus, the cross-coupling between the LFC loop and the AVR loop is
negligible, and the load frequency and excitation voltage control are analyzed
independently.

Figure 2.1 Schematic diagram of LFC and AVR of a synchronous generator

3
SIMULATION OF TWO AREA CONTROL SYSTEM USING SIMULINK

4
3. LOAD FREQUENCY CONTROL

The operation objectives of the LFC are to maintain reasonably uniform frequency, to
divide the load between generators, and to control, and to control the tie-line
interchange schedules. The change in frequency and tie-line real power are sensed,
which is a measure of the change in rotor angle ‘δ’, i.e., the error ‘Δδ’ to be corrected.
The error signal, i.e., Δf and ΔPtie, are amplified, mixed, and transformed into a real
power command signal ΔPv, which is sent to the prime mover to call for an increment
in the torque.

The prime mover, therefore, brings change in the generator output by an amount ΔPg
which will change the values of Δf and ΔPtie within the specified tolerance.

The first step in the analysis and design of a control system is mathematical modeling
of the system. The two most common methods are the transfer function method and
the state variable approach. The state variable approach can be applied to the portray
linear as well as nonlinear systems. In order to use the transfer function the system
must first be linearized. The transfer function models for following components are
obtained.

3.1 GENERATOR MODEL

One of the essential components of power systems is the three phase ac generator
known as synchronous generator or alternator. Synchronous generators have two
synchronously rotating fields: one field is produced by the rotor driven at synchronous
speed and excited by dc current. The other field is produced in the stator windings by
the three-phase armature currents. The dc current for the rotor windings is provided
by excitation systems. Today system use ac generators with rotating rectifiers, known
as brushless excitation systems. The generator excitation system maintains generator
voltage and controls the reactive power flow.

5
ΔPm(s) 1/2Hs ΔΩ(s)
_

ΔPe(s)

Figure 3.1 Transfer function model for generator model

In a power plant, the size of generators can vary fro 50 MW to 1500 MW.

3.2 LOAD MODEL

The load on a power system consists of a variety of electrical devices. For resistive
loads, such as lighting and heating loads, the electrical power is independent of
frequency. Motor loads are sensitive to changes in frequency. How sensitive it is to
frequency depends on the composite of the speed-load characteristics of all the driven
devices. Including the load model in the generator block diagram, results in the block
diagram of Figure 3.2.

ΔPL(s)

ΔPm(s) 1/(2Hs+D)
ΔΩ(s)

Figure 3.2 Transfer function model for load model

6
3.3 PRIME MOVER MODEL
The source of mechanical power, commonly known as prime mover, may be
hydraulic turbines at waterfalls, steam turbines whose energy comes from the burning
of coal, gas, nuclear fuel, and gas turbines. The model of the turbines relates change
in mechanical power output ΔPm to changes in steam valve position ΔPv. Different
types of turbines vary widely in characteristics. The simplest prime mover model for
the nonreheat steam turbine can be approximated with a single time constant TT. The
time constant TT is in the range of 0.2 to 2.0 seconds.

ΔPV(s) 1/(1+TTs) ΔPm(s)

Figure 3.3 block diagram for a simple nonreheat steam turbine

3.4 GOVERNOR MODEL

When the generator electrical load is suddenly increased, the electrical power exceeds
the mechanical power input. This power deficiency is supplied by the kinetic energy
stored in the rotating system. The reduction in kinetic energy causes the turbine speed
and, consequently, the generator frequency to fall. The change in speed is sensed by
the turbine governor which acts to adjust the turbine input valve to change the
mechanical power output to bring the speed to a new steady-state. The earliest
governors were the watt governors which sense the speed by means of rotating
flyballs and provide mechanical motion in response to speed changes. However, most
modern governors use electronic means to sense speed changes. Figure 3.4 shows
schematically the essential elements of a conventional Watt governor which consists
of the following major parts.

7
1. Speed governor: The essential parts are centrifugal flyballs driven directly or
through gearing by the turbine shaft. The mechanism provides upward and downward
vertical movements proportional to the change in speed.

2. Linkage Mechanism: These are links for transforming the flyballs movement to the
turbine valve through a hydraulic amplifier and providing a feedback from the turbine
valve movement.

Figure 3.4 Speed governing system

3. Hydraulic Amplifier: Very large mechanical forces are needed to operate the steam
valve. Therefore, the governor movements are transformed into high power forces via
several stages of hydraulic amplifiers.

8
4. Speed Charger: the speed charger consist of servomotor which can be operated
manually or automatically for scheduling load at nominal frequency.
By adjusting this set point, a desired load dispatch can be scheduled at nominal
frequency.

ΔPL(s)
_
ΔPref(s) ΔPg ΔPV ΔPm ΔΩ(s)

1/(1+Tgs) 1/(1+TTs) 1/(2Hs+D)

_
Governor Turbine Rotating mass
and load

1/R

Figure 3.5 LFC block diagram of an isolated system

9
4. AUTOMATIC GENERATION CONTROL

When the load on the system is increased, the turbine speed drops before the governor
can adjust the input of the steam to the new load. As the change in the value of speed
diminishes, the error signal becomes smaller and position of the governor falls gets
closer to the point required to maintain a constant speed. However the constant speed
will not be the set point, and there will be offset. One way to restore the speed or
frequency to its nominal value is to add an integrator.

The integral unit monitors the average error over a period of time and will overcome
the offset. Because of its ability to return a system to its set point, integral action is
known as the rest action. Thus, as the system load change continuously, the
generation is adjusted automatically to restore the frequency to the nominal value
.This scheme is known as the “automatic generation control” (AGC).

In an interconnected system consisting of several pools, the role of the automatic

generation control (AGC) is to divide the loads among system, station generators so
as to achieve maximum economy and correctly control the scheduled interchanges of
tie-line power while maintaining a reasonably uniform frequency. During large
transient disturbances and emergencies, AGC is bypassed and other emergency
controls are applied.

Modern power system network consists of a number of utilities interconnected

together & power is exchanged between utilities over tie-lines by which they are
connected. Automatic generation control (AGC) plays a very important role in power
system as its main role is to maintain the system frequency and tie line flow at their
scheduled values during normal period and also when the system is subjected to small
step load perturbations. Many investigations in the field of automatic generation
control of interconnected power system have been reported over the past few decades.

10
4.1 AGC IN A SINGLE AREA SYSTEM
With the primary LFC loop, a change in the system load will result in a steady-state
frequency deviation, depending on the governor speed regulation. In order to reduce
the frequency deviation to zero, we must provide a reset action. The rest action can be
achieved by introducing an integral controller to act on the load reference setting to
change the speed set point. The integral controller increases the system type by one
which forces the final frequency deviation to zero. The LFC system, with addition the
addition of the secondary Figure 4.1. The integral controller gain KI must be adjusted
for a satisfactory transient response.

ΔPL(s)
_
ΔPref(s) ΔPg ΔPV ΔPm
1/(1+Tgs) 1/(1+TTs) 1/(2Hs+D)

Governor Turbine Rotating mass

and load

1/R

KI/s

Figure 4.1 AGC for an isolated power system

11
4.2 AGC IN MULTIAREA SYSTEM
In many cases, a group of generators are closely coupled internally and swing in
unison. Furthermore, the generator turbines tend to have the same response
characteristics. Such a group of generators are said be coherent. Then it is possible to
let the LFC loop represent the whole system, which is referred to as control area. The
AGC of a multiarea system can be realized by studying first the AGC for a two-area
system. Consider two areas represented by an equivalent by an equivalent generating
unit interconnected by a lossless tie line with reactance Xtie. Each area is represented
by a voltage source behind an equivalent reactance as shown in Figure 4.2.

Figure 4.2 Equivalent network for two area power system

During normal operation, the real power transferred over the tie line is given by

P12 = |E1| |E2| sinδ12

X12

Where X12 = X1+ Xtie+ X2, and δ12= δ1 - δ2.

The tie line power deviation then takes on the form

ΔP12 = Ps(Δδ1 - Δδ2)

The tie line power flow appears as a load increase in one area and a load decrease in
the other area, depending on the direction of the flow. The direction of the flow. The
12
direction of flow is dictated by phase angle difference; if Δδ1 > Δδ2, the power flows
from area 1 to area 2. A block diagram representation for the two-area system with
LFC containing only the primary loop is shown in Figure 4.3.

Figure 4.3 Two area system with primary LFC loop

4.3 TIE-LINE BIAS CONTROL

In the normal operating state, the power system is operated so that the demands of the
areas are satisfied at the nominal frequency. A simple control strategy for the normal
mode is
• Keep frequency approximately at nominal value.
• Maintain the tie-line flow at about schedule.
• Each area should absorb its own load charges.
13
Conventional LFC is based upon tie-line bias control, where each area tends to reduce
the area control error (ACE) to zero. The control error for each area tends to consists
of linear combination of frequency and tie-line error.

ACEi = Σnj=1 ΔPij +Ki Δω

The area bias Ki determines the amount of interaction during a disturbance in the
neighboring areas. An overall satisfactory performance is achieved when K is selected
equal to the frequency bias factor of that area, i.e., Bi =1/Ri +Di . Thus, the ACEs for a
two area systems are

ACE1 = ΔP12 +B1 Δω1

ACE1 = ΔP21 +B2 Δω2

Where ΔP12 and ΔP21 are departures from scheduled interchanges. ACEs are used as
actuating signals to activate changes in the reference power set points, and when
steady state is reached, ΔP12 and Δω will be zero. The integrator gain constant must be
chosen small enough so as not cause the area to go into a chase mode. The block
diagram of a simple AGC for two area system is shown in Figure 4.4

Figure 4.4 AGC block diagram for two area system

14
5. SIMULINK

5.1 WHAT IS SIMULINK

Computers have provided engineers with immense mathematical powers, which can
be used to simulate (or mimic) dynamic systems without the actual physical setup.
Simulation of Dynamic Systems has proved to be immensely useful when it comes to
control design, saving time and money that would otherwise be spent in prototyping a
physical system. Simulink is a software add-on to MATLAB software which is a
mathematical tool developed by The Mathworks, a company based in Natick, MA.
MATLAB is powered by extensive numerical analysis capability. Simulink is a tool
used to visually program a dynamic system (those governed by Differential equations)
and look at results. Any logic circuit or a control system for a dynamic system can be
built by using standard building blocks available in Simulink Libraries. Various
toolboxes for different techniques, such as Fuzzy Logic, Neural Networks, DSP,
Statistics etc. are available with Simulink, which enhance the processing power of the
tool. The main advantage is the availability of building blocks, which avoid the
necessity of typing code for small mathematical processes.
With Simulink, we can move beyond idealized linear models to explore more realistic
nonlinear models, factoring in friction, air resistance, gear slippage, hard stops, and
the other things that describe real-world phenomena. Simulink turns a computer into a
laboratory for modeling and analyzing systems that would not be possible or practical
otherwise. Whether we are interested in the behavior of an automotive clutch system,
the flutter of an airplane wing, or the effect of the monetary supply on the economy,
Simulink provides we with the tools to model and simulate almost any real-world
problem. Simulink also provides demos that model a wide variety of real-world
phenomena. Simulink provides a graphical user interface (GUI) for building models
as block diagrams, allowing us to draw models as we would with pencil and paper.
Simulink also includes a comprehensive block library of sinks, sources, linear and
nonlinear components, and connectors. If these blocks do not meet our needs,
however, we can also create your own blocks. The interactive graphical environment
simplifies the modeling process, eliminating the need to formulate differential and
difference equations in a language or program.

15
Model-Based Design is a process that enables faster, more cost-effective development
of dynamic systems, including control systems, signal processing, and
communications systems. In Model-Based Design, a system model is at the center of
the development process, from requirements development, through design,
implementation, and testing. The model is an executable specification that is
continually refined throughout the development process. After model development,
simulation shows whether the model works correctly. When software and hardware
implementation requirements are included, such as fixed-point and timing behavior,
you can automatically generate code for embedded deployment and create test
benches for system verification, saving time and avoiding the introduction of hand-
coding errors. Model-Based Design allows you to improve efficiency by:
• Using a common design environment across project teams
• Linking designs directly to requirements
• Integrating testing with design to continuously identify and correct errors
• Refining algorithms through multidomain simulation
• Automatically generating embedded software code
• Developing and reusing test suites
• Automatically generating documentation
• Reusing designs to deploy systems across multiple processors and hardware
targets.
After we define a model, we can simulate it, using a choice of mathematical
integration methods, either from the Simulink menus or by entering commands in the
MATLAB Command Window. The menus are convenient for interactive work, while
the command line is useful for running a batch of simulations. Using scopes and other
display blocks, we can see the simulation results while the simulation runs. We can
then change many parameters. The simulation results can be put in the MATLAB
workspace for postprocessing and visualization.

5.2 MODELING PROCESS

There are six steps to modeling any system:

16
1. DEFINING THE SYSTEM
The first step in modeling a dynamic system is to fully define the system. If you are
modeling a large system that can be broken into parts, you should model each
subcomponent on its own. Then, after building each component, you can integrate
them into a complete model of the system. For example, the demo model used later in
this guide models the heating system of a house. This system can be broken down into
three main parts:
• Heater subsystem
• Thermostat subsystem
• Thermodynamic model subsystem
The most effective way to build a model of this system is to consider each of these
subsystems independently.

2. IDENTIFYING SYSTEM COMPONENTS

The second step in the modeling process is to identify the system components.
There are three types of components that define a system:
• Parameters — System values that remain constant unless you change them
• States — Variables in the system that change over time
• Signals — Input and output values that change dynamically during the simulation

In Simulink, parameters and states are represented by blocks, while signals are
represented by the lines that connect blocks. For each subsystem that you identified,
ask yourself the following questions:
• How many input signals does the subsystem have?
• How many output signals does the subsystem have?
• How many states (variables) does the subsystem have?
• What are the parameters (constants) in the subsystem?
• Are there any intermediate (internal) signals in the subsystem?
Once you have answered these questions, you should have a comprehensive list of the
system components, and are ready to begin modeling the system.

17
3. MODELING THE SYSTEM WITH EQUATIONS
The third step in modeling a system is to formulate the mathematical equations that
describe the system. For each subsystem, use the list of system components you
identified to describe the system mathematically. Your model may include:
• Algebraic equations
• Logical equations
• Differential equations, for continuous systems
• Difference equations, for discrete systems
You use these equations to create the block diagram in Simulink.

4. BUILDING THE SIMULINK BLOCK DIAGRAM

After you have defined the mathematical equations that describe each subsystem, you
can begin building a block diagram of your model in Simulink. Build the block
diagram for each of your subcomponents separately. After you have modeled each
subcomponent, you can then integrate them into a complete model of the system. See
“Creating a Simple Model” on page 3-3 for more information on building the block
diagram in Simulink.

5. RUNNING THE SIMULATION

The final step in modeling a system is to run the simulation and analyze the results.
Simulink allows you to interactively define system inputs, simulate the model, and
observe changes in behavior. This allows you to quickly evaluate your model.

6. VALIDATING THE SIMULATION RESULTS

After you simulate your model, you must validate that the model accurately models
the physical characteristics of the system. You can use the linearization and trimming
tools available from the MATLAB command line, plus the many tools in MATLAB
and its application toolboxes to analyze and validate your model.

We perform the first three steps of this process outside of Simulink before you begin
building your model.

18
5.3 STARTING SIMULINK

To start simulink, we have to first start the, MATLAB and then enter the Simulink
command at the MATLAB Command Window or Click on the Simulink icon on the
MATLAB toolbar. It will display the Simulink library browser.

Figure 5.1 Simulink library browser

19
5.3 SIMULINK LIBRARY BROWSER

The Library Browser displays the Simulink block libraries installed on system. we
build models by copying blocks from a library into a model window.

Table 5.1
Block Library Description
Commonly used blocks Contains group of the most commonly
used blocks, such as the Constant, In1,
Out1, Scope, and Sum blocks. Each of the
blocks in library are also included in
library
Continuous Contains blocks that model linear
functions, such as Derivatives and
Integrator blocks.
Discontinuities Contains blocks with outputs that are
discontinuous function of their inputs,
such as the Saturation block.
Discrete Contains blocks that represent discrete
time function, such as the unit delay
block.
Logic and bit operations Contains blocks that perform logic or bit
operation, such as the logical operator
and relational operator.
Lookup Tables Contains blocks that use look up tables to
determine their output from their input,
such as cosine and sine blocks.
Math operations Contains blocks that perform
mathematical and logical functions, such
as the Gain, Product, and Sum blocks.
Signal Attributes Contains blocks that modify the attributes
of signal, such as datatype conversion
blocks.

6. TWO AREA CONTROL SYSTEM

20
Large scale power systems are normally composed of control areas or regions
representing coherent groups of generators. Area load changes and abnormal
conditions lead to mismatches in frequency and scheduled power interchanges
between areas. These mismatches have to be corrected by Governor Control, which is
defined as the regulation of the power output of generators within a prescribed area.

The key assumptions in the classical Governor control problem are:

i. The steady state frequency error following a step load change should vanish. The
transient frequency and time errors should be reduced.
ii. The static change in the tie power following a step load in any area should be zero,
provided each area can accommodate its own load change.
iii. Any area in need of power during an emergency should be assisted from other
areas.

The two area system is a form of multiarea system of AGC, where a group of
generator is closely coupled internally and swing in unison. Furthermore, the
generator turbine tends to have the same response characteristics. Such a group of
generators are said to be “coherent” .Then it is possible to represent the whole system,
which referred to as a “control area”.

In two area system, generation and load demand of two domains is dealt. Any load
change within the area has to be met by generators in both the area. Thus we can
maintain the constant frequency operation irrespective of load change. Power system
parameters taken for the design of the Governor controller are enlisted in Table 6.1.

Table 6.1

Parameters Two area system

21
 Area 1 Area 2

Turbine time constant(TT) 0.5s 0.6s

Governor time constant (Tg) 0.2s 0.3s
Frequenct-sens. load coeff. 0.6 0.9
Governor speed regulation(R) 0.05 0.0625
Inertia constant 5 4

1000 MVA
Base power

Tie line control system must use two pieces of information: the system frequency and
the net power flowing in or out over the tie lines.
(i). If frequency decreased and net interchange power leaving the system increased, a
load increase has occurred outside the system.
(ii). If frequency decreased and net interchange power leaving the system decreased, a
load increase has occurred inside the system.

Modeling two area systems are based on transfer function approach. Two area system
with governor control is shown in Figure 6. 1.
.

22
Figure 6.1 Simulation block diagram

23
7. SIMULATION RESULT

Figure 7.1 Simulation result

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8. CONCLUSION

This shows that the static change in the tie power following a step load in any area
should be zero, provided each area can accommodate its own load change. Any area
in need of power during an emergency should be assisted from other areas.

From the simulation result we have seen that the integrator gain constants are adjusted
for a satisfactory response and frequency deviation returns to zero with settling time
of approximately 20 seconds.
.

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REFERENCE

[1] Elgerd, O. I. “Electric energy systems theory: An introduction”, 2nd Edition,

McGraw-Hill; 1971.
[2] Saadat, Haadi. “Power System Analysis”, 6th Edition, Tata McGraw-Hill
edition 2002.
[3] Jaleeli N, VanSlyck LS, Ewart DN, Fink LH, Hoffmann AG. “Understanding
Automatic Generation Control”. IEEE Trans Power Systems 1992; 7(3):1106–
12.
[4] Pan C.T., Liaw, CM.”An adaptive controller for power system load-frequency
control”. IEEE Trans Power Systems 1989”, 4(1):122–8.
[5] Talaq J, Al-Basri F. “Adaptive fuzzy gain scheduling for load frequency
control”. IEEE Trans Power Systems 1999”, 14(1):145–50.

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APPENDIX A
A.1 NOMENCLATURE
δ: rotor angle.
Δδ: change in rotor angle ‘δ’, i.e., the error.
Bi: ith subsystem’s frequency-biasing factor
Ri: speed regulation for ith subsystem due to the ith governor action in Hz/pu MW
a12: the ratio between the base values of two areas
fi: incremental frequency deviation in Hz
PTi: incremental change in the ith subsystem’s output in pu MW
PRi: incremental change in the output energy of the i th reheat type turbine in pu MW
PCi: incremental change in the integral controller
PTie: incremental change in the tie-line power
Pdi: load disturbance for the ith area in pu MW
Pm: mechanical power
Pv: steam valve position
Pref: reference set power
ui: output of the automatic generation controller for ith area
Tij: synchronizing coefficient of the tie-line between i th and j th areas
TGi: ith governor time constant in s
TTi: ith turbine time constant in s
TRi: ith reheat time constant in s
TPi: ith subsystem-model time constant in s
KPi: ith subsystem gain
KIj: ith subsystem’s integral control gain
Ki: the ratio between output energy of the ith stage of turbine to total output energy
Xtie: reactance with unit interconnected by a lossless tie line

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