Design and Implementation of Excitation control system based on

direct Lyapunov method

Quang Nguyen Hong
Department of Industrial Automation
Ha noi University of Science and Technology
Ha noi, Vietnam
Quang.nguyenhong1@hust.edu.vn

Abstract The conventional way to control the excitation of
synchronous generator is to use the automatic voltage regulator
(AVR) with the supplement signal of the power system stabiliser
(PSS) for elimination of negative damping. In this paper a
systematic approach to the design of the PSS is proposed.
Lyapunov's direct method is used to derive a control strategy for
the excitation control of a synchronous generator. In addition, the
paper also presents the use of hardware in loop (HIL) to verify the
model in the laboratory condition. The experience result from
digital controller of Hoabinh hydro power generator is given as the
illustrative evidence.
Keywords: (excitation control, PSS, Lyapunov)
I. INTRODUCTION
Though generator output power is decided by a turbines
mechanical torque, it can be changed by transiently changing
the excitation value (Fig.1).
contain the damps efficiently in multimodal oscillations
containing both local and inter- area modes [3].
A PSS has been derived using a nonlinear multi-machine
system model [2]. The control law uses an energy-type
Lyapunov function to maximize the speed with which the
system returns to the equilibrium point following a disturbance.
This control law is optimal only for the particular Lyapunov
function used.
The verification of the proposed controller can be observed
in the real-time digital simulator, which implemented in Matlab
xPC target. The xPC platform allows to represent a wide and
significant class of operating conditions system with additional
control loops (under and over excitation). That would allow
deep performances checking and fine parameters tuning.
Implementation example is given in Hoabinh hydro power to
show the effectiveness of the proposed control algorithm.
II. BACKGROUND OF PSS

A. Theory of PSS
The comparison of torque charateristics between three
different modes: constant excitation (CS), AVR and AVR with
PSS can been described [3] as the next table:

CS
Fig 1: Excitation reaction
A PSS detects the change in generator output power, controls
the excitation value, and reduces the rapid power fluctuation
(Fig.2).
AVR

AVR
+PSS

Fig 2: PSS in action Table 1: The comparison of torque charateristics

Although the AVR is very effective during normal steady-
state operation, it may have a negative influence on the damping
of power swings in the transient state [1]. A supplementary
control loop to compensate for such negative effect, known as
PSS, is often added. The main problem associated with the
design of traditional AVR- PSS systems is the difficult ties to
The PSS detects fluctuations in generator output
power and controls the excitation. The type of PSS is
distinguished by its detection signal. The simplest and most
typical type is the P input type unit; however, and f input
type units have been introduced to improve the stability of the
intra-system oscillation mode (i.e., long-term or interface
mode) in view of the large increase in power. Fig. 2 shows the
block diagram of a conventional PSS, which uses real power as system trajectory tends towards the equilibrium point. The
the input signal system model is then described as [1]:
d

dt (2)
d
Fig 3: The conventional PSS M Pm Pe
dt (3)
B. Direct Lyapunov based PSS dEq '

Although the PSS itself is not expensive, the commissioning Tdo' E f Eq (4)
dt
costs can be quite high because of the need to undertake dE d'
extensive system-wide studies in order to optimise the AVR and Tqo' Ed
dt (5)
PSS settings. In order to deal with these new challenges the
stabilisers should be robust (i.e. insensitive to changing In which:
loading conditions). Following the guidelines of designing the xd ' xd xd'
PSS in [2], [5], an attempt to solve this problem based on the Eq Eq Vs cos
xd' xd' (6)
application of the Lyapunovs direct method would be
'
presented. xq xq x q
Figs. 4 and 5 show a generator-infinite busbar system and Ed '
Ed' Vs sin
x q xq' (7)
the corresponding phasor diagram.
And
Eq' Vs Ed' Vs V 2 xq xd
'

Ed '
sin '
cos s ' '
sin 2
x d xq 2 xq xd (8)
With the eqn 1:
t
Fig 4: Schematic diagram of generator infinite bus bar system d 1 2
k M dt Md ( ) M (9)
The Lyapunov function used in this paper comprises four terms: dt ^ 2
0
k p E' E' (1)
d q
p Pm Pe ( )d (10
where k is a kinetic energy term, p is a potential energy ^ )

term, and E' and E ' are two additional terms to account for 1 ' ^'
2
1 ' ^'
2

E 1 E E'q ; E 1
d q
E E'd
flux decrement effects on the d and q axes
'
q 2 x' q 2 xq' d
'
d (11
d
)

All of above functions are positive. Derivative of the , one

has

d q (12)
and
1 1 2
d Ed 0 (13)
Tqo' xq xq'
2
1 1

Fig 5: Phasor diagram of synchronous generator q Eq Eq
In the fig.5, xd, xd v xq, xq are d-axis and q-axis reactances Tdo' xd xd'
(14)
in stable and trasisent conditions. Lyapunov's stability theorem 1 1


E E f Eq Eq
' f
states that the post fault system is stable provided that the time '
Tdo xd xd
derivative of the Lyapunov function along the system trajectory

is negative semidefinite (i.e. 0 ). Having obtained a Notes that d is always negative, therefore the Lyapunov

suitable Lyapunov function in eqn.1, the next stage of the control would depend on the sign of q . As can bee seen, the
design process is to devise the necessary control strategy that
2
first component: 1 1
ensures the negative value of at all instants.
'
E Eq is negative at all time,
' q
C. Control design Tdo xd xd
and the control strategy should therefore aim to make the
The control strategy is based on the observation that the
second component as highly negative as possible at each instant
higher the negative value of the derivative , the faster the
of time during the transient state. Because of xd> xd , the The gain of the primary level stabilising controller is set at
control law would have the following structure: K=15. To study the performance of the proposed controller,


simulations have been performed that cover a wide range of
E f E f K Eq Eq (15) possible generator loading conditions and the conventional PSS

Where K>>1 is the controller gain and the Lyapunov function is tuned to give a 'good' performance over the wide range of
decreases at a rate equal to : operating conditions to compare with the new PSS.

d q
2
1 K 1
1 1 2
' d
' ' Eq Eq ' E 0 (16)
Tdo xd xd Tdo xq xq
The control strategy can be rewritten as


E f E f K Eq Eq
(17)

Fig 8: The Simulink model of proposed controllers

As in real life situation, the worst case is the short circuit in the
network. After fault clearing, both controllers take over the
system quickly to the steady state, again in an almost unperiodic
way. The backswing of power and voltage is almost negligible.
The post fault performance of the proposed controller is
Fig 6: The proposed Lyapunov based controller

slightly better than the standard PSS.
Eq can be calculated based on the output signal of the AVR

controller since at the desired equilbirum point, Eq E f with

E f is the actual AVR output. The hierachical control structure
would be depicted as Fig 7:

Fig 9: Response of the the controller under sort-circuit test

B. Hardware-in-loop
Fig 7: The hierarchical AVR-PSS controller
In oder to fully test the real-time digital controller, the
III. SIMULATION hardware in loop system has been set up.
A. Matlab-Simulink simulation
Simulated model with derived Lyapunov controller and
the old AVR-PSS controller is presented on the fig. 5.
Simulation results have been obtained for a generator infinite
bus bar system using the following data:
Reactance parameters in relative units (pu):
Xd Xd Xd Xq Xq Xl
1.305 0.296 0.252 0.474 0.243 0.18
Time constants (s)
Td Td Tdo Tdo Tq Tqo
1.01 0.053 4.477 0.0625 0.0502 0.1

Fig 10:Simulink model running on the Host PC
The system is based on the Matlab xPC Target model, in which
the host PC is used to build the Simulink model in Fig 10. It
would then compile to the native code using Real Time
Workshop (RTW) and transfer to the target PC via a TCP/IP
connection. The NI6070E hardware card of National
Instruments is installed on target PC and during the run time,
all sensor data such as Et, P are sent to DAC of the NI and then
connect to the ADC input of dsPIC 33F based controller. With
this type of model, all of simulation cases have been re-run to
test the feasiblity of the real-time controller.
Fig 11: The hardware-in-loop test bed system
Synchronous generators are conviniently set to work under very
different operating conditions. The actual response of digital
controller shall ensure the output voltage system be smooth in
transitions without oscillations of generator current and reactive
power.
Fig 11: The excitation response in target PC
IV. IMPLEMENTATION
Experimental verification of the excitation control system
is made on the 3.6MW auxilary generator of Hoabinh hydro-
power plant in Vietnam. Digital control system with DsPIC
33FJ128GP708 is described in [4]. The hardware, which
integrates the main controller and the Human Machine Interface
(HMI), is applied to develop the dynamic real-time system. The
hardware consists of a 16-bit CPU of Microchip DsPIC 33F, a
5.7 inch QVGA LCD, a RS232 interface, a CAN interface, a
24V DC power supply, 16 digital input channels, 4 channels
analog input (12 bits resolution, 0-10V) is used. The excitation
winding of a synchronous generator is fed by the Thyristor
converter.
Fig 12: Excitation control cabinet
The terminal voltage and exciation current during the start-up
and de-excitation are shown on Fig 31 and Fig 32.
Fig 13: Terminal voltage and DC current in start-up period

Fig 14: Terminal voltage and DC current in de-excitation period
V. CONCLUSIONS
A PSS for a synchronous generator has been derived using
an energy-type Lyapunov function. By using the nonlinear
system model, the control strategy is optimal over a wide range
of rotor angle and swing frequency changes. Simulation and
experimental studies for various system loading have
confirmed this. While traditional PSS is suffered when the
system operating condition changed, the performance of the
proposed stabiliser seems to be unaffected.
REFERENCES
[1] P. Kundur, Power System Control Stability, McGraw-Hill, Inc, 2001.
[2] J.Machowski, J.W.Bialek, S.Robak, J.R.Bumby Decentralised
Lyapunov-based power system stabiliser, International Conference on
Electric Utility Deregulation and Restructuring and Power Technologies,
pp 431-436, April 2000
[3] IEEE Recommended Practice for Excitation System Models for Power
System Stability Studies, IEEE Std 421.5-1992
[4] Quang. Nguyen, Digtal excitation control system for hydro-power
plants, International symposium on Dynamics and Control, pp 205-211,
2011.
[5] Bourles, H., Electr. de France, Clamart, France, Peres, S,; Margotin,
T. Houry, M.P. Analysis and design of a robust coordinated
AVR/PSS, IEEE Transactions on Power System, 1998, pp 568-5