EE 357 Power Systems and Power Electronics Simulation Laboratory

Experiment 4 Simulation of Automatic Voltage Regulator (AVR) using MATLAB/SIMULINK

Objective: To simulate the Automatic Voltage Regulator (AVR) using MATLAB/SIMULINK

and to obtain the responses for

1. Uncompensated Case.

2. Compensated Case.

Software: MATLAB Version 6.5(R13) and SIMULINK Version 5.0 (R13).

Description:

The AVR controls the magnitude of terminal voltage of alternator by changing the field
voltage of exciter of the alternator. The exciter is the main component in the AVR loop. It
delivers the dc power to the generator field. The basic role of the AVR is to provide constancy of
the alternator terminal voltage during normal, small and slow changes in the load. However, it is
common practice to design the exciter with enough margins to give powerful boosts in the
excitation level also during emergencies. The basic AVR consists of stability compensator,
amplifier, exciter and alternator(Synchronous Generator). The mathematical models of each
component are given below:

{Stability-compensator}

67 89: ; 4 < 9=7 (1)

Where
67 89: transfer function of the stability compensator;
=7 time constant of stability compensator, in seconds;

{Amplifier}
?@
6> 89: ; (2)
ABCD@
Where
6> 89: transfer function of the amplifier;
E> gain of the amplifier;
=> time constant of the amplifier;

{Exciter}
?G
6F 89: ; (3)
ABCDG
Where
6F 89: transfer function of the exciter;
EF gain of the exciter;
=F time constant of the exciter;

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 EE 357 Power Systems and Power Electronics Simulation Laboratory

{Alternator field system}

?J
6I 89: ; M (4)
ABCDKL
Where
6I 89: transfer function the alternator field system;
EI gain of the alternator field system;
P
=NO open-circuit d-axis time constant of the alternator, in seconds;

The overall block diagram of the AVR is shown in Fig.1.

Fig.1. Block Diagram of the AVR.

Building the Model of AVR in SIMULINK :

Using SIMULINK the AVR model of Fig. 1 can be built. The forcing function is a step function
representing a step change in the voltage reference. The change in the alternator terminal voltage
is displayed during the simulation using a scope.

Step1: Open a new SIMULINK model file.

Step2: Drag and place the following building blocks from SIMULINK library to the SIMULINK

model file.

1. Transfer function {Simulink /Continuous}.

2. Sum{Simulink/ Math Operations}.

3. PID controller{Simulink Extras / Additional Linear}.

4. Step{Simulink/ Sources}.

5. Scope{Simulink/ Sinks}.

Step3: Connect the blocks according to AVR model (Fig.1)

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 EE 357 Power Systems and Power Electronics Simulation Laboratory

Step4: Set the parameters of the individual blocks.

Step5: Save &Run the SIMULINK model.

Step6: Note down change in the alternator terminal voltage by opening the scope and save the

result.

The step input and output voltage are simultaneously viewed by using Mux block of simulink
{Simulink/ Signal Routing}.

Output:

The AVR with the following parameters is simulated for uncompensated and compensated cases
(for uncompensated case =7 is set to zero).
P
=7 ; =F = 0.5 seconds; E7 ; EF = 1; => ; 0.05seconds; EI =100; =NO = 3 seconds; Reference
Voltage =1pu; The reference voltage is applied at 1 second.

The step responses of the AVR for a step voltage change of 1 pu for uncompensated and
compensated cases are shown in Figs.2&3.

Dynamic Response of AVR - Uncompensated Case

10

6
Ref.Voltage&Output Voltage in pu

Reference
4 Voltage Output Voltage

-2

-4

-6

-8
0 1 2 3 4 5 6 7 8 9 10
time in seconds

Fig.2. Dynamic Response of AVR (Uncompensated Case) .

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 EE 357 Power Systems and Power Electronics Simulation Laboratory

Dynamic Response of AVR - Compensated Case

2

1.8

1.6

Ref.Voltage&Output Voltage in pu
1.4 Reference Voltage

1.2

0.8
Output Voltage
0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
time in seconds

Fig.3. Dynamic Response of AVR (Compensated Case) .

Additional Question:

Simulate the AVR with the above parameters for uncompensated and compensated cases. Rated
voltage of the alternator is 11KV. Desired voltage output is given by
Desired voltage Duration
11 KV t 1.5 sec
10.8 KV
1.5 sec ! t 5 sec
10.9 KV
t " 5 sec

Result: AVR was simulated using MATLAB/SIMULINK and the responses for uncompensated
and compensated cases were obtained.

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