Abstract :
This paper presents the analysis of Load Frequency Control (LFC) of a two-area hydrothermal system under
deregulated environment by considering Adaptive Neuro-Fuzzy Inference System (ANFIS). Fixed gain
controllers for LFC are designed at nominal operating conditions and fail to provide best control performance
over a wide range of operating conditions. So, in order to keep system performance near its optimum, it is
desirable to track the operating conditions and use updated parameters to compute control gains. Open
transmission access and the evolving of more socialized companies for generation, transmission and distribution
affects the formulation of AGC problem. So the traditional LFC two-area system is modified to take into
account the effect of bilateral contracts on the dynamics. A control scheme based on ANFIS, which is trained by
the results of off-line studies obtained using genetic algorithm, is proposed in this paper to optimize and update
control gains in real-time according to load variations. The efficiency of the proposed method is demonstrated
through computer simulations.
Keywords: Load Frequency Control; ANFIS; Hydrothermal system; Deregulation.
1. Introduction
Large scale power systems are normally composed of control areas or regions representing coherent group of
generators. In a practically interconnected power system, the generation normally comprises of a mix of
thermal, hydro, nuclear and gas power generation. However, owing to their high efficiency, nuclear plants are
usually kept at base load close to their maximum output with no participation in the system automatic generation
control (AGC). Gas power generation is ideal for meeting the varying load demand. Gas plants are used to meet
peak demands only. Thus the natural choice for AGC falls on either thermal or hydro units. Literature survey
shows that most of earlier works in the area of AGC pertain to interconnected thermal systems and relatively
lesser attention has been devoted to the AGC of interconnected hydro-thermal system involving thermal and
hydro subsystem of widely different characteristics. Concordia and Kirchmayer [1] have studied the AGC of a
hydro-thermal system considering non-reheat type thermal system neglecting generation rate constraints.
Kothari, Kaul, Nanda [2] have investigated the AGC problem of a hydro-thermal system provided with integral
type supplementary controllers. It is to be appreciated that in a realistic situation, the system works in the
continuous mode whereas the controllers work in the discrete mode. Perhaps Nanda, Kothari and Satsangi [3]
are the first to present comprehensive analysis of AGC of an interconnected hydrothermal system in continuous-
discrete mode with classical controllers.
Under deregulated environment the power system structure changed in such a way that would allow the
evolving of more specialized industries for generation (Genco), transmission (Transco) and distribution (Disco).
A detailed study on the control of generation in deregulated power systems is given in [4]. The concept of
Cpf11 Cpf12
+ +
Cpf21 + Cpf22
p.u load of + p.u load of
Disco 1 Disco 2
Cpf31 Cpf32
+ +
Cpf41 + + Cpf42
B 1 1
R1 R2 PD1(s )
Thermal area
+ - + -
ANFIS 1 1 1 sK r Tr + K p1
controller a
- 1 s Tg 1 s Tt 1 s Tr 1 s T p1
+
+ +
+
- +
Demand of
1 1 1 sK r Tr discos in
a
- 1 s Tg 1 s Tt 1 s Tr area 1 to
+ Gencos in
area 2
+ +
+ 2 T12
s
- -
+ + -1 Demand of
- 1 1 sTR 1 - sTw discos in
a area 2 to
1 s T1 1 s T2 1 0.5s Tw Gencos in
-1
- area 1
+ + ++
ANFIS - 1 1 sTR 1 - sTw KP2
controller a 1 s T2 1 0.5s Tw 1 s TP 2
1 s T1 +
+ - -
+
Hydro area
1 1 PD 2 (s )
B R3 R4
Cpf13 Cpf14
+ +
Cpf23 + Cpf24
p.u load of + p.u load of
Disco 3 Disco 4
Cpf33 Cpf34
+ +
Cpf43 + Cpf44
Figure 1: Two area hydrothermal AGC block diagram under deregulated scenario
independent system operator (ISO) as an unbiased coordinator to balance reliability with economics has also
emerged [5, 6].
Fixed gain controllers are designed at nominal operating conditions and fail to provide best control performance
over a wide range of operating conditions. Therefore, to keep system performance near its optimum, it is
desirable to track the operating conditions and use updated parameters to compute the control gains. The
prominent feature of fuzzy and neural network based schemes is that they provide a model-free description of
control systems and do not require model identification. In this paper a control scheme based on ANFIS, which
is trained by the results of off-line studies, obtained using genetic algorithm has been proposed. Separate ANFIS
networks have been used for both thermal and hydro systems. The simulations are carried out in presence of the
Generation Rate Constraint (GRC) because ignoring GRC leads to nonrealistic results. In view of this the main
objectives of the present paper are the following:-
1. To consider an interconnected hydrothermal system under deregulated environment and to evaluate
dynamic responses.
2. To present a systematic and comprehensive approach for designing ANFIS based controller.
3. To analyze the dynamic performance obtained with the above two control strategies, i.e. ANFIS based
controller and PI controller (dual mode controller)
ACE t if ACE t
ACE t
else
If
action
else action
K p
+
Ki +
P c (t )
s
4. ANFIS Methodology
Advanced control based on artificial intelligent techniques is called intelligent control. Fuzzy logic is also
another artificial intelligence technique to apply human like thinking to a system. A fuzzy system can be
designed to emulate human deductive thinking that is, the process people use to infer conclusions from what
they know. Fuzzy Logic Control (FLC) is a rule-based controlling technique. The structure of the FLC
resembles that of a knowledge-based control except that the FLC utilizes the principles of fuzzy set theory in its
data representation and its logic. The basic configuration of FLC is simply represented in four parts, as shown in
Fig 3.
Knowledge base
Data Rule
Base Base
For large power systems consisting of several control areas and many Gencos, the optimization process may
take a long time which is not desirable for online control actions. Thus, ANFIS is used to decrease the
optimization time. The first step in ANFIS involves training the ANFIS. Since data is needed for training the
ANFIS, large amount of data is collected by considering load changes ranging from 0 to 0.1 p.u MW. The load
changes which have been considered for getting the data are 0.02, 0.05, 0.08 and 1.0. Each of this load is
presented to the system and using the dual mode controller which has been optimized by PSO, the data is
collected. The inputs to the ANFIS considered are ACE (t ) and ACE (t ) whereas the output is the
corresponding signal to the governor from the dual mode controller. The structure of ANFIS considered is
shown in Figure 4. Finally the training set consists of 4000 elements. Since the system considered is a
hydrothermal system, separate ANFIS structures have been considered for both thermal and hydro areas.
Layer 1 Layer 2 Layer 3 Layer 4 Layer 5
MIN 1
MIN N 2
O
R
MIN M 3
X A
L
MIN I 4
Z
A
T 5
f
MIN Σ
I
O
MIN N 6
Y MIN 7
MIN 8
MIN 9
0 .1 0 .0 0 .3 0 .4
0.0
0 .1 0 .0 0.2
DPM = 0.3 0 .4 0 .1 0 .0
0.2 0 .0 0 .2 0 . 1
0.2 0 . 3 0 . 0 0 . 1
0.2 0.2 0.4 0.2
A step load disturbance of 0.04 p.u MW is considered in either of the areas (Fig 5-7). Table 1 shows the
performance of the ANFIS controller with respect to Peak time, Overshoot and Settling time when it is
compared with Dual mode controller. It can be seen from the table that the performance of ANFIS controller is
better than the performance of Dual mode controller.
With ANFIS
0.265 0.00387634 0.49 0.34 0.0045496 1.625
controller
Figure 8 shows the comparison between the performance index of the system due to both controllers.
6. Conclusions
A new control scheme for AGC based on Adaptive Neuro-Fuzzy Inference System (ANFIS) under deregulated
scenario has been proposed. The performance of this new proposed scheme has also been compared with
another technique called as dual mode controller whose gains have been optimized by particle swarm
optimization. The conventional design approach requires a deep understanding of the system, exact
mathematical models, and precise numerical values whereas a basic feature of this ANFIS based controller is
that the rules can be created through the training mechanism employed in neural networks thus evolving a fuzzy
system. The time consumed for computing optimal gains using PSO directly is too much for real-time control
and is not practical. However, the trained ANFIS response time is reasonable and practical. The simulation
results show that the proposed ANFIS based controller yields improved control performance than the dual mode
controller.
7. Appendix
All the notations carry the usual meanings
(a) System data
T p1 , T p 2 = 20s; K p1 , K p 2 = 120 Hz/p.u.Mw; Pr1 , Pr 2 = 1200 Mw; Tt = 0.3s; Tg = 0.08s, Tw = 1s;
Tr 5s , T1 41.6 s , T2 =0.513s; R1 , R2 = 2.4Hz/pu Mw; T12 = 0.0866s; B1 , B2 0.4249p.u Mw/Hz;
Acknowledgement
The author sincerely acknowledges the financial support provided by G.Pulla Reddy Engineering
College(Autonomous): Kurnool, Andhra Pradesh, India for carrying out the present work.
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