434
ADAFTIVE AUTOMATIC GENERATION CONTROL WITH SUPERCONDUCTING MAGNETIC
ENERGY STORAGE I N POWW SYSTEMS
S.C. T r i p a t h y R . Balasubramanian
C e n t r e For Energy S t u d i e s
I n d i a n I n s t i t u t e of Technology
New D e l h i - 110016
INDIA
Keywords- Adaptive C o n t r o l , Superconducting Magnetic
Energy S t o r a g e , Automatic G e n e r a t i o n C o n t r o l .
Abstract- An improved a u t o m a t i c g e n e r a t i o n c o n t r o l
(AGC) employing s e l f - t u n i n g a d a p t i v e c o n t r o l f o r b o t h
main AGC l o o p and s u p e r c o n d u c t i n g magnetic energy
s t o r a g e (SMES) is p r e s e n t e d i n t h i s paper. Computer
s i m u l a t i o n s on a two-area i n t e r c o n n e c t e d power system
show t h a t t h e proposed a d a p t i v e c o n t r o l scheme i s v e r y
e f f e c t i v e i n damping o u t o s c i l l a t i o n s caused by l o a d
d i s t u r b a n c e s and i t s performance i s q u i t e i n s e n s i t i v e
t o c o n t r o l l e r g a i n parameter changes o f SMES. A
comprehensive c o m p a r a t i v e performance e v a l u a t i o n o f
control schemes u s i n g a d a p t i v e and non-adaptive
c o n t r o l l e r s i n t h e main AGC and i n t h e SMES c o n t r o l
l o o p s i s p r e s e n t e d . The improvement i n performance
brought i n by t h e a d a p t i v e scheme i s p a r t i c u l a r l y
pronounced f o r l o a d changes of random magnitude and
duration. The proposed c o n t r o l l e r c a n be e a s i l y
implemented u s i n g m i c r o p r o c e s s o r s .
INTRODUCTION
F a s t a c t i n g e n e r g y s t o r a g e d e v i c e s , such as SMES
o r b a t t e r y e n e r g y s t o r a g e c a n e f f e c t i v e l y damp o u t
power f r e q u e n c y and t i e - l i n e power o s c i l l a t i o n s caused
by s m a l l l o a d d i s t u r b a n c e s [l-51. Though e x p e n s i v e ,
t h e s e h o l d promise a s p o t e n t i a l d e v i c e s f o r improving
dynamic performance of power s y s t e m s . These s t o r a g e
d e v i c e s , i n c o n j u n c t i o n w i t h a back-to-back d c l i n k ,
have been proposed [ 6 ] t o f a c i l i t a t e e f f e c t i v e and
economic c o n t r o l o f power f l o w between i n t e r c o n n e c t e d
systems. The i n t e n s i v e s e a r c h f o r h i g h t e m p e r a t u r e
s u p e r c o n d u c t i n g m a t e r i a l s g i v e s f u r t h e r impetus f o r
s t u d y i n g t h e a p p l i c a t i o n s of SMES technology. D e t a i l e d
d e s c r i p t i o n s of SMES and i t s c o n f i g u r a t i o n i n t h e
power system c a r be found i n [ 1 , 2 , 4 , 5 ] .
Computer s i m u l a t i o n s t u d i e s r e p o r t e d i n [ 5 ] and
[7] demonstrate t h a t e i t h e r t h e a r e a frequency
d e v i a t i o n s i g n r l o r t h e a r e a c o n t r o l e r r o r (ACE)
s i g n a l , c o m p r i s i n g o f t h e a r e a frequency d e v i a t i o n
and t h e t i e - l i . n e power d e v i a t i o n , can be used t o
c o n t r o l t h e SMES. The u s e of ACE as t h e c o n t r o l
s i g n a l , when compared t o t h e o t h e r , h a s t h e added
a d v a n t a g e t h a t it f u r t h e r r e d u c e s t h e t i e - l i n e power
d e v i a t i o n s and a l s o l o c a l i z e s t h e c o n t r i b u t i o n of t h e
SMES u n i t s so a s t o respond more t o t h e l o a d
d i s t u r b a n c e s i n i t s own a r e a [5,7]. These s t u d i e s have
indicated t h a t with e i t h e r of t h e s e c o n t r o l s i g n a l s ,
the performance is q u i t e s e n s i t i v e t o t h e g a i n
9 1 SM 32619 EC A p a p e r recommended and approved
b y the IEEE Energy Development and Power G e n e r a t i o n
Committee o f the IEEE Power E n g i n e e r i n g S o c i e t y f o r
p r e s e n t a t i o n a t the IEEE/PES 1991 Summer Meeting,
San Diego, C a l i f o r n i a J u l y 28 - August 1 , 1991.
M a n u s c r i p t s u b m i t t e d August 20, 1990; made a v a i l a b l e
f o r p r i n t i n g May 8 , 1991.
0885-8%9/92$03.W@1992 IEEE
IEEE Transactionson Energy Conversion, Vol. 7, No. 3, September 1992.
P.S. Chandramohanan N a i r
s e t t i n g s o f t h e proposed c o n t r o l l e r f o r t h e SMES u n i t .
Further, these papers deal with t h e optimization of
c o n t r o l l e r g a i n s e t t i n g s . The o p t i m a l g a i n s e t t i n g s
have been obtained for a deterministic load
d i s t u r b a n c e o f a p a r t i c u l a r magnitude, and t h e s e g a i n s
need n o t be o p t i m a l f o r any o t h e r l o a d .
The use of adaptive controller for the
supplementary c o n t r o l of AGC h a s been c i t e d i n t h e
l i t e r a t u r e [8-lo]. I n t h e p r e s e n t p a p e r , t h e r e s u l t s
o f a computer s i m u l a t i o n s t u d y are p r e s e n t e d t o show
t h e a d v a n t a g e s of a s e l f - t u n i n g t y p e of a d a p t i v e
c o n t r o l f o r SMES u n i t f o r t h e improvement of AGC.
Adaptive c o n t r o l l e r s have t h e a d v a n t a g e t h a t t h e y c a n
even be used i n combination w i t h o t h e r non-adaptive
controllers in the system [ll]. The a d a p t i v e
c o n t r o l l e r h e r e u s e s t h e ACE s i g n a l as its i n p u t
v a r i a b l e and g e n e r a t e s s i g n a l o f s u i t a b l e magnitude
and s i g n f o r t h e c o n t r o l o f SMES. For t h e c o n t r o l o f
an area, i t r e q u i r e s o n l y measurements of its
frequency and t i e - l i n e power. The c o n t r o l l o g i c i s
a l s o e a s y t o implement on a m i c r o p r o c e s s o r .
A two-area interconnected power system i s
c o n s i d e r e d f o r t h e computer s i m u l a t i o n s t u d i e s o f t h e
proposed c o n t r o l system. The power system model
incorporates governor deadband and steam r e h e a t
turbines. The g e n e r a t i o n r a t e c o n s t r a i n t (GRC) i s
a l s o included i n t h e a n a l y s i s t o obtain r e a l i s t i c
results. To t a k e i n t o a c c o u n t t h e smallest time
c o n s t a n t s a s s o c i a t e d w i t h SMES, time-domain a n a l y s i s
of t h e c o n t i n u o u s system is performed w i t h a small
time s t e p ( s a y 0.01 s e c o n d ) w i t h a p p r o p r i a t e c h o i c e of
sampling time i n t e r v a l s f o r t h e a d a p t i v e c o n t r o l l e r s .
The performance of t h e a d a p t i v e c o n t r o l l e d SMES
i s compared w i t h t h a t o f non-adaptive SMES keeping t h e
supplementary c o n t r o l as t h e c o n v e n t i o n a l one w i t h t h e
integral controller. When t h e SMES c o n t r o l i s made
adaptive, i t is almost i n s e n s i t i v e t o t h e c o n t r o l l e r
g a i n parameter v a r i a t i o n as e x p e c t e d . The performance
i s t h e n i n v e s t i g a t e d w i t h t h e supplementary c o n t r o l
a l s o i n a d a p t i v e form, which r e s u l t s i n f u r t h e r
refinement over t h e previous r e s u l t s . A s t h e load
variations a r e actually stochastic i n nature, the
a b i l i t y of t h e proposed c o n t r o l l e r i n d e a l i n g w i t h
such s i t u a t i o n s i s a l s o i n v e s t i g a t e d .
CONFIGURATION OF SMES
F i g . 1 shows t h e b a s i c c o n f i g u r a t i o n of a SMES
u n i t i n t h e power system. The s u p e r c o n d u c t i n g c o i l c a n
be charged t o a s e t p o i n t (which i s less t h a n t h e f u l l
c h a r g e ) from t h e u t i l i t y g r i d d u r i n g normal o p e r a t i o n
of t h e g r i d . The d c magnetic c o i l i s connected t o t h e
a c g r i d t h r o u g h a power c o n v e r s i o n system (PCS) which
i n c l u d e s a n i n v e r t o r / r e c t i f i e r . Once c h a r g e d , t h e
s u p e r c o n d u c t i n g c o i l c o n d u c t s c u r r e n t , which s u p p o r t s
a n e l e c t r o m a g n e t i c f i e l d , w i t h v i r t u a l l y no l o s s e s .
The c o i l i s m a i n t a i n e d a t e x t r e m e l y low t e m p e r a t u r e
(below t h e c r i t i c a l t e m p e r a t u r e ) by immersion i n a
b a t h of l i q u i d helium [ 1 , 4 ] .
When t h e r e i s a sudden rise i n t h e demand o f
l o a d , t h e s t o r e d energy is a l m o s t immediately r e l e a s e d
t h r o u g h t h e PCS t o t h e g r i d a s l i n e q u a l i t y a c . A s t h e
governor and o t h e r c o n t r o l mechanisms s t a r t working t o
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t
Usi(t) = -K (2)
11; ACEi dt
i , j = 1,2

Il
where KIi = g a i n of t h e i n t e g r a l c o n t r o l l e r o f a r e a , i

PCS ACEi = Bi AFi + AP. . (3)

Bypass
v+77 I I.
zgscR
1ranrtormrr
Fig. 1 Configuration of SMES in power system.
s e t t h e power s y s t e m t o t h e new e q u i l i b r i u m c o n d i t i o n ,
t h e c o i l c h a r g e s back t o i t s i n i t i a l v a l u e o f c u r r e n t .
S i m i l a r i s t h e a c t i o n d u r i n g sudden release o f l o a d s .
The c o i l i m m e d i a t e l y g e t s c h a r g e d t o w a r d s i t s f u l l
v a l u e , t h u s a h s o r b i n g some p o r t i o n of t h e e x c e s s
energy i n t h e system, and as t h e system r e t u r n s t o its
steady state, t h e excess energy absorbed i s r e l e a s e d
and t h e c o i l c u r r e n t a t t a i n s i t s s e t p o i n t .
1J i , j = 1,2
where AF. frequency d e v i a t i o n of a r e a , i
AP?
=
.= change i n t i e - l i n e power f l o w o u t o f a r e a
'J i to j
B . = f r e q u e n c y b i a s p a r a m e t e r f o r ACE of a r e a , i
The d u e of B. i s c h o s e n e q u a l t o t h e v a l u e of t h e
area f r e q u e n c y ;esponse c h a r a c t e r i s t i c (AFRC), l? ,
which a c c o r d i n g t o [13] p r o d u c e s o v e r a l l s a t i s f a c t o r y
performance of t h e i n t e r c o n n e c t e d s y s t e m s .
The sudden release o r a b s o r p t i o n o f power by SMES
i n accordance with t h e d e v i a t i o n s of load causes t h e
s u p p l e m e n t a r y c o n t r o l t o f e e l t h e e f f e c t of l o a d
variations s l i g h t l y reduced. T h i s may i n t r o d u c e
s l i g h t s l u g g i s h n e s s i n t h e o p e r a t i o n of supplementary
control. T h i s s i t u a t i o n c a n b e improved by p r o v i d i n g
t h e power d e v i a t i o n s i n SMES u n i t s a s a n a d d i t i o n a l
s i g n a l f o r t h e s u p p l e m e n t a r y c o n t r o l . Then,

MATKPIATICAL MODEL FOR AGC WITH

SMES I N POWER SYSTEMS

A d i g i t a l computer model f o r AGC o f a two-area where APSMi power d e v i a t i o n i n SMES u n i t o f a r e a , i

=
power s y s t e m i s d e v e l o p e d f o r t h e a n a l y s i s a s shown i n (PU. Mw)
F i g . 2 , which i n c o r p o r a t e s g o v e r n o r deadband, r e h e a t If the c o n t r o l l e r f o r s u p p l e m e n t a r y c o n t r o l is
steam t u r b i n e s a n d g e n e r a t i o n r a t e c o n s t r a i n t . S i n c e a d a p t i v e , t h i s m o d i f i e d ACE s i g n a l i s used a s i t s
t h e purpose i s t o study t h e c o n t r o l s t r a t e g i e s , a n input variable.
i n c r e m e n t a l model i s a d e q u a t e .
G e n e r a t i o n Rate C o n s t r a i n t (GRC)

I n p r a c t i c e , t h e r e e x i s t s a maximum l i m i t on t h e
r a t e of c h a n g e of power t h a t c a n be g e n e r a t e d by a
steam p l a n t [ 1 0 , 1 4 ] . Hence, i f t h e s p e e d o f r e s p o n s e
demanded from t h e c o n t r o l system a n d / o r t h e l o a d
change a r e t o o f a s t under t r a n s i e n t c o n d i t i o n s t h e
steam f l o w and a u x i l i a r y s y s t e m i n e r t i a w i l l p r e v e n t
a t t a i n m e n t of t h i s r a t e . The c o n t r o l l e r d e s i g n e d f o r
t h e u n c o n s t r a i n e d s i t u a t i o n may n o t be s u i t a b l e . The
a n a l y s i s performed i n [ 1 0 , 1 4 ] i n d i c a t e t h a t w i t h
c o n s t r a i n t s imposed by GRC, t h e dynamic r e s p o n s e s o f
t h e s y s t e m e x p e r i e n c e l a r g e r o v e r s h o o t s and l o n g e r
settling times, compared to t h e case w i t h o u t
c o n s i d e r i n g GRC. For t h e a n a l y s i s h e r e , a g e n e r a t i o n
rate l i m i t a t i o n of 0.1 pu. p e r m i n u t e [ l o ] i s
considered. That is,
d
Fig. 2 B l o c k diagram of AGC with governor deadband, -- ApG 0.0017 pu. MW/sec. (6 1
reheat steam turbines, generation rate dt
constraint and t h e SMES unit. The GRC i s t a k e n i n t o a c c o u n t by a d d i n g a l i m i t e r t o
t h e t u r b i n e p o w e r as shown i n F i g . 2 .
The d e s c r i b i n g f u n c t i o n a p p r o a c h i s used t o
incorporate the governor deadband n o n - l i n e a r i t y THYRISTOR CONTROL OF SMES UNITS
[7,12]. The power s y s t e m shown by t h i s model i s a
l i n e a r c o n t i n u o u s - t i m e dynamic s y s t e m and i t c a n b e The o p e r a t i o n o f SMES u n i t s , t h a t i s , c h a r g i n g
r e p r e s e n t e d by a s e t o f l i n e a r d i f f e r e n t i a l e q u a t i o n s and d i s c h a r g i n g , t h e s t e a d y s t a t e mode and t h e power
o f t h e form: modulation d u r i n g dynamic o s c i l l a t o r y p e r i o d a r e
c o n t r o l l e d by t h e a p p l i c a t i o n o f t h e p r o p e r p o s i t i v e
o r negative voltage t o t h e inductor. This can be
a c h i e v e d by c o n t r o l l i n g t h e f i r i n g a n g l e of t h e
where E , U and E a r e s t a t e , c o n t r o l and d i s t u r b a n c e converter bridges.
v e c t o r s and [A], [ B ] , [ r ] a r e constant matrices N e g l e c t i n g t h e t r a n s f o r m e r and t h e c o n v e r t e r
a s s o c i a t e d w i t h them r e s p e c t i v e l y . l o s s e s , t h e d c v o l t a g e i s g i v e n by [ 1 5 ] :
U and i n t h e d i a g r a m c a n b e i n p u t s from
eithers1integrays2controller o r a d a p t i v e c o n t r o l l e r . Ed = 2Vdo cosu - 2 I d Rc (7)
P r o p o r t i o n a l f r e q u e n c y n e g a t i v e f e e d b a c k i s found t o
improve t h e performance i n b o t h t h e c a s e s and K and where Ed = dc v o l t a g e a p p l i e d t o t h e i n d u c t o r (kV)
KAF2 r e p r e s e n t t h e g a i n s a s s o c i a t e d w i t h i t . the c1 = f i r i n g angle (degree)
c o n v e n t i o n a l i n t e g r a l c o n t r o l l e r i s used f o r t h e I = c u r r e n t t h r o u g h t h e i n d u c t o r (kA)
s u p p l e m e n t a r y c o n t r o l o f AGC, e q u i v a l e n t commutating r e s i s t a n c e (ohm)
:R =

TI-
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maximum open circuit bridge voltage of part of the STR. The plant is identified by a model of
vdo = each 6-pulse converter at c1 = 0" (kV) a pre-assigned order, and for every sampling interval,
The inductor is initially charged to its rated the identifier computes the parameters of this model.
current, Id0 by applying a small positive voltage. The controller uses these parameters and the system
Once the current has attained the rated value, it is data to calculate and output the control to the plant.
held constant by reducing the voltage ideally to zero Each area of the power system is a complicated
since the coil is superconducting. A very small non-linear system by itself. It is possible to model
voltage may be required to overcome the commutating such a system by a linear, discrete, finite-order
resistance. model with time-varying parameters. Area i may be
In Fig.2, U and U are the control inputs to modelled as
the SMES units ki
area i2and 2 respectively. These
inputs can either be signals proportional to ACE or yi(t) + ailyi(t-1)+....+ainiYi(t-ni)
signals from separate adaptive controllers. In both
cases, inductor current deviation is sensed and used = bilui(t-ki-l) +. ...+ biniui(t-ki-ni) + 'Yi[ei(t)
as a negative feedback signal in the SMES control
loop. This feedback helps in the quick restoration of + Cileil(t-l) +. ...+ciniei(t-ni)l (10)
the coil current to the set point, following a sudden
change in the load demand [5,7]. The block diagram where y.(t) is the ACE, u.(t) is the input variable,
representation of the SMES control scheme is shown in ei(t) dpresents the uncer$ainty in the model, ail.. .
Fig.3. With ACE as the control signal, a. bil... binil 9' . and cil.. c. are model .
p&ieters, ni is ;he order of model, ki
1 represents the pure delay, (t-j) represents the time
BEdi = _______
l+sTdci
[KMCi (BiAFi + AP.1 J.) - KIdi AIdi] (t-jT) and T is the sampling period.
Disturbance
i.j = 1,2 (8) I
where AE is the incremental change in converter
voltage &V); AId. is the incremental change in SMES I
current (kA); TdC is the converter time delay (Sec.);
KuC is the gain of the SMES control loop for ACE
signal (kV/unit ACE); K is the gain of the inductor
current deviation feedgack loop (kV/kA) and s is the
Laplace operator. I den t l f ier 0

_--- - - - Par m e t e r s
U Controller -
Fig. 4 General structure of a self-tuning regulator.
It is proposed to minimize the variance of yi'
Fig. 3 Block diagram representation of SMES control (k.+l) sampling periods ahead of time. Then at time
scheme. (t$ki+l), the model given by (10) can be written as
If adaptive signal is used to control SMES, then,
A
1
= _______
yi(t+ki+l) + ailyi(t+ki) +....+ainiyi(t+ki+l-ni)
[KLADi 'LADi - KIdi &dil (9)
l+sTdci = b ilU i(t)+....+biniui(t+l-ni) + yi[ei(t+ki+l)
i = 1,2
where UMDi is the input signal from the adaptive +cilei(t+ki) +....+ciniei(t+ki+l-ni)] (11)
controller and KLADi is the gain of the SMES control
loop for adaptive signal (kV/unit signal). By writing (10) at the instants (t+k.), (t+k.-1),
...,(t+l) and substituting in (11) $0 elimhate
PARAMETER IDENTIFICATION AND ADAPTIVE CONTROL yi(t+ki), yi(t+ki-1), ...
,yi(t+l), (11) may be modified
as
Power system parameters are a function of the
operating point. To keep the system performance near
yi(t+ki+l)+Oilyi(t)+. .
. + ~ i ~ t-mi+l)
~y~(
its optimum, jt is desirable to track the operating = BiO[ ui(t)+Bi1ui( t-l)+. ..+Biliui( t-li)]+~i( t+ki+l)
conditions and use the updated parameters to compute
the control signal. (12)
It may be possible to represent such a system by where m. = n., 1. = ni+k.-1, BiO is a preselected
a linear low-order discrete model with time-varying constant' paramher,' CL. . aid 6 . . are coefficients
parameters. A recursive least squares (RLS) parameter computed from the paldmeters .:A and bi . in (IO),
estimation technique, which has a fast convergence c .=O and the disturbance E.(t) is d moving dverage of
rate [ll], is used in this work to estimate these ohder k. of the driving n o i k e.(t).
time-varying parameters. Based on this model which Fo; a system modelled by t12), if the parameters
tracks the operating conditions of the system, control
is computed using a minimum variance strategy. Thus,
ail,...,a.mi ,and Bil,
known, tfte minimum-variance &rol
...,
6. . are constants and
strategy [ 161 is
the process is the equivalent of a controller with simply
dynamically changing coefficients and is referred to 1
as the self-tuning regulator (STR). ui(t) = --- [a.
11y.1
(t)+ ...+
aimiyi(t-mi+l)]
6io
Self-Tuning Regulator - 6i1~i(t-1). .-6i1i~i(t-'-i) . (13)
The general structure of the STR is shown in If the model parameters are unknown and changing,
Fig.4. The identifier and controller form the software they are to be identified. In the STR, these para-

=
 437

area. Another STR of similar t y p e c a n be p r o v i d e d if

meters a r e e s t i m a t e d o n - l i n e a t e v e r y s a m p l i n g p e r t o d .
The e:timatedAvalues of t h e s e p a r a m e t e r s , a i l , ...,aimi t h e s u p p l e m e n t a r y c o n t r o l i n p u t s i g n a l Usi i s made
a n d Bil, ...,
6. . a r e t h e n used t o c a l c u l a t e t h e a d a p t i v e , i n which y . ( t ) w i l l a d d i t i o n a l l y c o n t a i n t h e
s i g n a l of power d e v i i t i o n i n SMES u n i t .
minimum-varian&&l;ontrol strategy of (13).
To estimate t h e p a r a m e t e r s o f t h e model i: ( 1 2 ) ,
t h e model may be r e w r i t t e n a t t h e i n s t a n t t , by DIGITAL SIMULATION RESULTS
t by ( t - k i - l ) , i n t h e f o l l o w i n g form [ 9 ] :
The t r a n s i e n t r e s p o n s e of t h e power s y s t e m w i t h
AGC i n d i f f e r e n t c a s e s i s o b t a i n e d . The v a r i a t i o n of
performance i s e a s i l y n o t e d i n e a c h case by c a l c u -
Zi(t) = y.ft)-BiOUi(t-ki-l) (15) l a t i n g t h e t i m e - e r r o r a c c u m u l a t i o n o r t h e performance
i n d e x c a l c u l a t e d on t h e b a s i s of t h e i n t e g r a l s q u a r e
h i ( t ) = [-yi(t-ki-1), ... ,-yi(t-ki-mi), e r r o r c r i t e r i o n [ 1 3 ] , which i s d e f i n e d as

Bi0ui(t-ki-2), . .., f i i o ~ i ( t - k i - l i - l ) ] ' (16) P.I. = Im(Wl(AFi)' + Wl(AF2)2 + WZ(APtie)')dt (22)

0

Bi = [ail ,...,ai. m .,Oil

i ,...O 111
. .I' (17) Weight f a c t o r s of 1.0 and 60.0 a r e found s u i t a b l e f o r
w1 and W r e s p e c t i v e l y f o r t h e c a s e s c o n s i d e r e d h e r e .
and a prime d e n o t e s t h e t r a n s p o s e o f a m a t r i x . I n e a c h 'case, t h e g a i n p a r a m e t e r s a r e v a r i e d and t h e
Several r e c u r s i v e parameter-estimation algorithms o p t i m a l v a l u e i s s e l e c t e d a s t h e o n e which g i v e s t h e
c a n be u s e d t o o b t a i n a n estimate e i ( t ) f o r t h e minimum v a l u e of t i m e - e r r o r a c c u m u l a t i o n .
parameter vector e.[17]. Use o f r e c u r s i v e l e a s t - The STR algorithm is tested f o r different
squares technique gr$es s a m p l i n g p e r i o d s and d i f f e r e n t s y s t e m o r d e r s . Sampling
I i n t e r v a l s of 1.0 second and 50 m i l l i s e c o n d s f o r t h e
i?ii(t) = ii(t-l) + gi(t)[Zi(t)-hi(t)&(t-l)] (18) self-tuning r e g u l a t o r s f o r t h e supplementary c o n t r o l
and t o t h e SMES c o n t r o l r e s p e c t i v e l y a r e found optimum
The c o r r e c t i o n v e c t o r K i ( t ) c a n b e c a l c u l a t e d a s and r e a s o n a b l e . For b o t h r e g u l a t o r s a f o u r t h o r d e r
-1 system model ( i . e . , m.=4 and 1 . = 3 i n (13)) i s found t o
K .( t ) [Pi( t - 1 ) ]hi( t ) [ I+&( t ) [ pi( t-1 ) Illi( t ) 1
= g i v e s a t i s f a c t o r y r k s u l t s . Although w i t h i n c r e a s i n g
-1
(19)
~, s a m p l i n g p e r i o d of t h e STR f o r SMES, t h e s y s t e m
where [ P . ( t ) ] i s t h e c o v a r i a n c e m a t r i x o f e s t i m a t i o n performance deteriorates, it i s found t o g i v e
e r r o r , which c a n be o b t a i n e d u s i n g t h e r e c u r s i v e s a t i s f a c t o r y r e s u l t s up t o 3. s a m p l i n g p e r i o d of 100ms.
relation Eventhough u p d a t i n g of t h e c o n t r o l s i g n a l f o r t h e
I s u p p l e m e n t a r y c o n t r o l i s done o n l y a t a n i n t e r v a l o f
[Pi(t)l = [[I1 - lSi(t)hi(t)l [Pi(t-l)l (20) one s e c o n d , t h e model p a r a m e t e r s c a n be u p d a t e d j u s t
b e f o r e t h e a p p l i c a t i o n of t h e c o n t r o l s i g n a l , u i ( t ) ,
where [ I ] i s t h e i d e n t i t y m a t r i x . t o t a k e i n t o a c c o u n t t h e l a t e s t t r e n d of y . . T h i s
To s t a r t t h e a l g o r i t h m , i n i t i a l v a l u e s o f b . ( t ) and p r a c t i c e i s found t o improve t h e s y s t e m periorrnance
[ P i ( t ) ] can be chosen a r b i t r a r i l y . A rechunended further . For t h e a n a l y s i s h e r e , t h e p a r a m e t e r
c h o i c e [ 9 1 i s a . ( o ) = 0 and [ P i ( o ) ] = V [ I ] , where w i s identification algorithm is started just 100
a r e l a t i v e l y l a l g e number. milliseconds prior t o t h e application of ui(t). The
Once t h e estimate $ ( t ) i s o b t a i n e d , u i ( t ) c a n be pure delay, k . i s considered a s zero.
calculated as F o r the' p u r p o s e of a n a l y s i s of t h e e f f e c t o f
1 SMES, t h e d a t a of t h e 30MJ SMES u n i t , which was
Ui(t) = --- [hil(t)yi(t)+. . .+8imi(t)yi(t-mi+i)l o p e r a t e d i n a n e x p e r i m e n t a l mode by t h e B o n n e v i l l e
'io Power A d m i n i s t r a t i o n (BPA) i n t h e i r s u b s t a t i o n a t
Tacoma, Washington i s assumed ( g i v e n i n t h e Appendix).
Factors such a s f a t i g u e , m e c h a n i c a l f o r c e s and
superconductor temperature s t a b i l i t y d i c t a t e t h a t
The s e l f - t ! i n i n g r e g u l a t o r t r a c k s t h e minimum stored e n e r g y d u r i n g normal o p e r a t i o n s h o u l d b e
v a r i a n c e o f y . ( t ) . S i n c e y . ( t ) i s changed d y n a m i c a l l y managed between a b o u t 20MJ and 30MJ [ 4 ] . T h i s imposes
a c c o r d i n g to' t h e v a r i a n c e ; o f AP . i ( t ) and A F . ( t ) , lower and u p p e r c u r r e n t l i m i t s (Idmin and I
i t c a n be c o n s i d e r e d t h a t i n t h e proposed a l g o r $ t h m , r e s p e c t i v e l y ) f o r t h e SMES d u r i n g o p e r a t i o n . df%r"
t h e v a r i a n c e s of t h e s e two v a r i a b l e s w i l l c o n v e r g e t o t h i s r e a s o n , SMES u n i t s a r e c u t o f f from t h e s y s t e m
n e a r t h e i r miniilium v a l u e s . when t h e c u r r e n t r e a c h e s i t s l i m i t s and c o n n e c t e d
The proposed STR f o r SMES i n a r e a i i s shown i n back o n l y when t h e ACE c h a n g e s i t s s i g n .
Fig.5. The measurements a v a i l a b l e l o c a l l y i n a r e a i AGC r e s p o n s e i s f i r s t o b t a i n e d w i t h o u t SMES f o r a
are t h e only requirements f o r t h e c o n t r o l l e r i n t h a t deterministic load i n c r e a s e o f 0.01 pu. in
area-1. The c o n v e n t i o n a l i n t e g r a l c o n t r o l l e r a s w e l l
- - -Self-tuning
- - - _ - -regula tor
-- - - - - - - - - a s STR a r e u t i l i z e d t o g e n e r a t e s u p p l e m e n t a r y c o n t r o l
Controller s i g n a l s USA and Us'. I n both cases, t h e proportional
frequency e v i a t i o n n e g a t i v e f e e d b a c k i s found t o
improve t h e p e r f o r m a n c e . The o p t i m a l v a l u e f o r t h e
gain K is found t o be 0 . 5 0 i n b o t h cases. Without
SMES, &{e o p t i m a l v a l u e of K I o b t a i n e d i s 0.20 w i t h
KAF=0.50.1n t h i s c a s e t h e f r e q u e n c y and t i e - l i n e power
D/A o s c i l l a t i o n s a r e found t o s e t t l e around 100 s e c o n d s .
The o p t i m a l v a l u e of K s h i f t s t o 0 . 2 5 when SMES i s
Control area I A FI c o n n e c t e d and i s c o n t r i l l e d e i t h e r by ACE s i g n a l o r
Adaptive STR .
control signal
Performance Improvement Through A d a p t i v e
C o n t r o l l e d SMES
APtie i
F i g . 6 i n d i c a t e s t h e improvement i n transient
Fig. 5 Self-tuning regulator for SMES in area i. response w i t h a d a p t i v e c o n t r o l l e d SMES of e q u a l

n
438

015

0 0181 '
1
E

i O Q Z l > ,

0 018
150 1% ZOO
,

215
,

ZSQ 175
, ,I
100
-5
SHES p.mikv/urut
100 1%
ACE sqnolt
150
- 175
SHES gcinlkV/uel d ~ p t . ~ l g n ~ l l

Fig.7(b) Performance index when

~ig.?(a) performance index when STR is used t o control SMES.
ACE is used to control SIIES.
-10.0
l

-o.nl .'
0
.
10
.
10
.
30
.
LO
.
50
I
Tin. It1CS1

(c)

E
i
-*-U
a-

0 OW ' '

0 IO 10 30 LO
TInW 1 1 1 c 1 1

Fig.8 Transient response vith ~ i g . 9 Transient response with

Fig. 6 Transient response with adaptive controlled ACE control for SHES. STR control for SHES.
SMES and integral controller for t h e supplementary
control, for a load increase of 0.01 pu. in area-1.

r a t i n g s (30MJ) i n c o r p o r a t e d i n b o t h a r e a s f o r a s t e p
load increase of 0.01 pu. i n area-1. Integral 0.0011 I
c o n t r o l l e r i s used f o r t h e supplementary c o n t r o l . The O ' O I

r e s p o n s e w i t h and w i t h o u t SMES are shown f o r t h e i r

i n d i v i d u a l o p t i m a l g a i n s e t t i n g s . Fig.G(a), ( b ) and
( c ) e s t a b l i s h t h e improvement o f t h e system frequency
o s c i l l a t i o n s and t i e - l i n e power d e v i a t i o n s . It c a n be
s e e n t h a t t h e o s c i l l a t i o n s are p r a c t i c a l l y damped o u t
and a l s o t h e a m p l i t u d e s of t h e d e v i a t i o n s a r e reduced
c o n s i d e r a b l y . The s e t t l i n g o f d e v i a t i o n s i s a l s o v e r y
f a s t , around 30 s e c o n d s . F i g . 6 ( d ) i s i n c l u d e d t o show
t h a t t h e r a t e of g e n e r a t i o n i n b o t h cases i s k e p t
w i t h i n l i m i t s . F i g . 6 ( e ) and ( f ) show t h e v o l t a g e s and
c u r r e n t s of t h e SMES u n i t s . It c a n b e s e e n t h a t t h e
SMES u n i t s s t a r t r e s t o r i n g t h e set v a l u e o f c u r r e n t
( 4 . 5 kA) as t h e t r a n s i e n t s a r e a b o u t t o d i e down.
0 02 Fig.10 Transient response with
, adaptive control f o r both main
.' .,.'...: -.--.. .
* _ ,
. e AGC loop and SMES, or a load
Adaptive Versus Non-adaptive C o n t r o l l e d SMES 00 . increase of 0.01 pu. in area-1
- : -Wilh SHfS
F i g . 7 ( a ) and ( b ) p r o v i d e t h e comparison between g.oo3s- ,i ---.--w;i~out sMrs
t h e performance i n d e x ( P . I . ) when ACE s i g n a l d i r e c t l y
and STR are used f o r t h e c o n t r o l o f SMES. I n b o t h
cases, supplementary c o n t r o l i s provided by i n t e g r a l
c o n t r o l l e r . A s t e p l o a d i n c r e a s e of 0.01 pu. i n a r e a - 1
is considered. I n b o t h cases, t h e minimum v a l u e o f
P.I. is more o r less same. However, when ACE i s
d i r e c t l y used as t h e c o n t r o l s i g n a l , t h e P . I . shows d e v i a t i o n w i t h t h e supplementary c o n t r o l l e r a l s o made
wide v a r i a t i o n s w i t h c h a n g e s of SMES c o n t r o l l e r g a i n , a d a p t i v e i n a d d i t i o n t o t h e a d a p t i v e SMES. These
wheress i n t h e c a s e o f a d a p t i v e c o n t r o l l e d SMES, t h e r e s p o n s e s a r e a l s o f o r a s t e p l o a d i n c r e a s e of 0.01
P.I. curve is almost f l a t . This i n d i c a t e s t h a t t h e pu. i n area-1. Compared t o F i g . 6 , h e r e t h e frequency
g a i n parameter changes of SMES c o n t r o l l e r have v e r y d e v i a t i o n s t a k e o n l y h a l f t h e time t o s e t t l e , around
l i t t l e e f f e c t on i t s performance when t h e c o n t r o l l e r 15 seconds. Although t h e t i e - l i n e power d e v i a t i o n
i s a d a p t i v e . T h i s i s f u r t h e r e s t a b l i s h e d by F i g u r e s 8 s e t t l e t o z e r o s l o w l y , i t i s reduced t o a s m a l l v a l u e
and 9, which show t h e e f f e c t o f v a r i a t i o n o f SMES q u i c k l y and i t s o s c i l l a t o r y n a t u r e a l s o i s reduced.
c o n t r o l l e r g a i n on f r e q u e n c y d e v i a t i o n o f a r e a - 1 and
tie-line power d e v i a t i o n when SMES u s e s non-adaptive Response t o Random Loads
and STR c o n t r o l l e r s r e s p e c t i v e l y . The r e s p o n s e s shown
a r e f o r a s t e p l o a d i n c r e a s e o f 0 . 0 1 pu. i n area-1. In practice, load variations a r e stochastic i n
nature. Hence f o r a r e a l i s t i c e v a l u a t i o n of t h e
S'IR for Both Main AGC Loop and SMES C o n t r o l proposed s y s t e m , i t h a s t o be t e s t e d under s u c h
conditions. A load p a t t e r n generated f o r such a
Fig.lO(a),(b) and ( c ) show t h e r e s p o n s e of purpose i s shown i n Fig.11. The l o a d model c a n be
f r e q u e n c y d e v i a t i o n o f a r e a 1 and 2 and t i e - l i n e power described a s

F
 439

APd = q ( t ) + O . O l Y ( t ) (23) CONCLUSION

where q ( t ) c o n s i s t s o f s t e p l o a d c h a n g e s a t i r r e g u l a r
i n t e r v a l s , and y ( t ) , a h i g h f r e q u e n c y component of S e l f - t u n i n g t y p e of a d a p t i v e c o n t r o l l e r s a r e
l o a d v a r i a t i o n s , which i s o b t a i n e d t h r o u g h a low p a s s proposed b o t h f o r t h e s u p p l e m e n t a r y c o n t r o l of AGC and
f i l t e r d e r i v e d a s f o l l o w s [18]: f o r t h e c o n t r o l of SMES, which i s i n c o r p o r a t e d a s a
v ( t ) = x ( t ) + <[Y(t-At) - x ( t ) l (24' s t a b i l i z e r t o improve AGC p e r f o r m a n c e . A two-area
where x ( t ) i s a normal d i s t r i b u t e d random number; A t power s y s t e m c o n n e c t e d t h r o u g h a t i e - l i n e h a s been
i s t h e time i n t e r v a l and t h e f i l t e r i n g c o n s t a n t , used as a model f o r t e s t i n g t h e a d a p t i v e c o n t r o l
5 4 . 9 6 . The l o a d p a t t e r n o f F i g . 1 1 i s a p p l i e d a s APdl strategy. The power s y s t e m model i n c l u d e s g o v e r n o r
and APd2 i s s e l e c t e d t o b e z e r o . deadband n o n - l i n e a r i t y , steam r e h e a t t u r b i n e s and
generation rate c o n s t r a i n t .
The c o m p u t a t i o n a l r e s u l t s d e m o n s t r a t e t h a t t h e
s e l f - t u n i n g r e g u l a t o r s b r i n g s i g n i f i c a n t improvement
O'O3 -7 i n s y s t e m r e s p o n s e . F u r t h e r , when STR i s u s e d f o r t h e
c o n t r o l of SMES t h e performance i s p r a c t i c a l l y i n s e n -
s i t i v e t o t h e c o n t r o l l e r g a i n c h a n g e s . The r e g u l a t o r s
require only measurements of t h e area f r e q u e n c y and
t i e - l i n e power e r r o r s and a n estimate o f t h e s y s t e m
o r d e r . I n t h i s p a p e r t h e r e p r e s e n t a t i o n of a n a r e a by
a fourth order model i s found a d e q u a t e . Such
regulators can be easily implemented using
m i c r o p r o c e s s o r s . However, a s t h e SMES t e c h n o l o g y i s
- w5 LL.-L-I'I---l-----Lj new and s t i l l e v o l v i n g , i t s c o s t - e f f e c t i v e n e s s i n t h e
0 50 100 150 200 250 300 proposed a p p l i c a t i o n i s n o t s t u d i e d .
Time ( s e c s 1
Fig.11 Random load disturbance applied t o area-1

-021 I I 1 -2- I ' 1 1 J - 0 . Z i . 1 ' d

0 50 100 150 200 250 300 0 >O 100 150 200 250 300
Time (secs) Time I szcsl Time Isecsl
(a) (a) (a)
0.025, 1 0.025 1 0.025
0 . d ll I 0.0 0 02
I
5 0.01 - 0.01-
I: r
-L i
N
0.0 2 0.0- R
-a
4
-0.01

- 0.02
0 50 100 150 200 250 300
-0.021 I

0
,
50
I

100
1

150
, "
200
I

250
I

300
I -0.021
0
, 1
50
, ,
100 150 ZOO
, I
,
250
I

300
I
Time ( s e c s ) Time Isecsl-

Fi9.12 Transient respcnse with integral F j g . 1 3 Transient response with adaptive Fig.14
(bl
\ ,

Transient response with adaptive

. .
Ibl
controller f o r the main AGC loop and controller f o r the main AGC loop and control f o r both main AGC loop and
without SMES, f o r the load disturbance without SMES, for the load disturbance SMES, f o r the load disturbance shown
shown in Fig.11. shown Jn Fi7.11. in Fig.11.

F i g . l 2 ( a ) a n d ( b ) show t h e f r e q u e n c y d e v i a t i o n o f APPENDIX
area-1 and t i e - l i n e power d e v i a t i o n r e s p e c t i v e l y ,
w i t h o u t SMES i i n i t s and w i t h c o n v e n t i o n a l i n t e g r a l
c o n t r o l l e r f o r s u p p l e m e n t a r y c o n t r o l . F i g . 1 3 shows SYSTEM DATA [ 1 2 , 1 3 1
t h e same v a r i a b l e s when t h e s u p p l e m e n t a r y c o n t r o l i s
made adaptive, and w i t h o u t SMES. The o v e r - a l l The power s y s t e m p a r a m e t e r s c h o s e n f o r t h e
performance ( t i m e - e r r o r a c c u m u l a t i o n ) i s b e t t e r w i t h p r e s e n t s t u d y a r e g i v e n below. N o t a t i o n s c a r r y t h e
adaptive c o n t r o l l e r even i f t h e l o a d changes occur u s u a l meanings and a r e similar t o t h a t i n [13].
many times b e f o r e t h e t r a n s i e n t s due t o t h e p r e v i o u s
l o a d change s e t t l e . F i g . 1 4 d e p i c t s t h e improvement
b r o u g h t i n f u r t h e r by i n c o r p o r a t i n g t h e a d a p t i v e
Area c a p a c i t y , PR1 = pZ2 I
2000 Mw
fo = 60 Hz; - 3.14 r a d i a n
c o n t r o l l e d SMES, k e e p i n g STR f o r t h e s u p p l e m e n t a r y K = K = 120 Hz/$u.MW
c o n t r o l . The a d a p t i v e SMES h e l p s i n r e d u c i n g t h e mag- Rpl = R2: = 2 . 4 Hz/py.Mw
n i t u d e of d e v i a t i o n s i n f r e q u e n c y and t i e - l i n e power D1 = D = 8.33~10- pu.Mw/Hz
and a l s o i n q u i c k l y damping o u t t h e o s c i l l a t i o n s . Bi = B i = R = 0 . 4 2 5 pu.MW/Hz
440

T = T = 2 0 s S. C. T r i p a t h y , R. Balasubramanian and P. S.
Tpl = TrP2 = 10.0 s Chandramohanan N a i r , " E f f e c t o f Superconducting
T e = 0.6707 MW/radian Magnetic Energy S t o r a g e on Automatic G e n e r a t i o n
KLL
Trl
=
= '$
K = 0.333
= 0.20 s
T2 = 0.30 s
C o n t r o l C o n s i d e r i n g Governor Deadband and B o i l e r
Dynamics", paper p r e s e n t e d i n t h e IEEE PES
I n t e r n a t i o n a l Power Meeting - I n d i a , Nov. 1990,
T
:: =
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K12 KBFl = KAF2 G. C. Goodwin and K . S. S i n , "Adaptive F i l t e r i n g
$icl
K

Idl
=
=
=
KLAC2
KId2
= 0.25
I100 kV/unit ACE
- 0.20 kV/kA
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M. L. K o t h a r i , P. S. S a t s a n g i and J. Nanda,
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Fl,Kq2,
-LADl
K - and K a r e same a s above.
LADz1i1350 kV4t;it s i g n a l
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iAF1,
a12
K F2,
I1 =
KI I and KId2
= 8.20 (when
a r e same a s above.
integral controller
Wittenmark, "Theory and A p p l i c a t i o n s of S e l f -
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Discussion
0. P. Malik (The University of Calgary, Calgary, Alberta, Canada):
The authors have presented a very interesting study describing the
application of a self-tuning adaptive controller to automatic genera-
tion control and a superconducting magnetic energy system. They
show the positive effects of such controllers that are quite easy to
implement using microcomputers.
This discussor would like to make a few comments regarding the
adaptive control algorithm application as adopted in this paper:
(a) The authors are correct in saying that the time-step in performing
the digital simulation solution of the continuous system should be
chosen small with appropriate choice of sampling interval for the
adaptive controller. However, considering that the smallest time-
constant is 30 ms for the SMES, it would have been preferable to
use the simulation time-stop between 1 and 5 ms rather than 10
ms. With the lower time-step, the effect of simulation model
discretization would have been decoupled from the sampling for
the discrete adaptive controller, and they would have been able to
increase the sampling period for the adaptive controller used on
the SMES.
(b) The authors state that for both regulators a fourth order system
model is found to give satisfactory results. What was the criterion
used for satisfactory results? Were other model orders for
system identification model tried and with what results?
(c) Using a forgetting factor in the recursive least-squares identifica-
tion algorithm would have been useful particularly for the case of
random-load disturbance studies.
(d) Minimum variance control algorithm has the advantage of being
simple and easy to compute. It is, however, unsuitable where the
control is constrained or the system being controlled is non-
minimum phase. In the studies described in this paper, no limits
have been placed on the control U for either SMES or supplemen-
tary use. The results also seem to indicate that the controlled
system in this case was minimum phase. Minimum variance con-
troller thus provided satisfactory performance. These two require-
ments may, however, not be satisfied in all situations.
The above comments notwithstanding, the authors have presented a
useful study.
Manuscript received August 20, 1991.
441
S.C.Tripathy, R.Balasubramanian and P.S.Chandramohanan
Nair ( I I T Delhi, New Delhi): The a u t h o r s are thankful
t o Prof. 0. P. Malik f o r r e i t e r i n g t h e f a c t t h a t
a p p l i c a t i o n of a s e l f - t u r n i n g r e g u l a t o r t o automatic
generation control of Power Systems with
superconducting Magnetic Energy Storage has p o s i t i v e
e f f e c t s on t h e system damping as they are easy t o
implement using microcomputers. The a u t h o r s would l i k e
t o answer t h e q u e s t i o n s r a i s e d i n t h e same o r d e r as
they are asked:
The a u t h o r s agree t h a t a computation time s t e p
smaller than l O m s would have yielded more a c c u r a t e
r e s u l t s . However, a compromise had t o be made
between t h e t o t a l computing and t h e accuracy of
results and a time s t e p of 1011s was f i n a l l y
chosen. The t o t a l computing time is very important
particularly f o r on-line a p p l i c a t i o n of the
adaptive regulator.
A f o u r t h o r d e r model was s e l e c t e d s i n c e higher
o r d e r model d i d n o t b r i n g o u t any distinct
improvement i n t h e r e s u l t s . On t h e o t h e r hand
higher model means more computational e f f o r t .
The r e s u l t s are v a l i d even without a f o r g e t t i n g
f a c t o r , however, t h i s a l t e r n a t i v e option f o r t h e
case of random load d i s t u r b a n c e s t u d i e s w i l l be
experimented i n subsequent work.
L i m i t s on t h e c o n t r o l were imposed a f t e r t h e
computation for checking on the physical
c o n s t r a i n t s . Nevertheless t h e c o n t r o l system is
minimum phase.
F i n a l l y t h e a u t h o r s are g r a t e f u l t o t h e d i s c u s s e r
f o r t h e a p p r e c i a t i o n of t h i s i e s e a r c h e f f o r t .
Manuscript received A p r i l 10, 1992.