Power System Frequency
Control
Part 2 – Automatic Generation
Control
W. D. Prasad
Reference: H. Saadat, “Power System Analysis”, McGraw-Hill
P. Kundur, “Power System Stability and Control”, McGraw-Hill
Example: Frequency Control of an Isolated Power
System
∆𝑃𝐿 𝑠
∆𝑃𝑔 𝑠 ∆𝑃𝑉 𝑠
∆𝑃𝑟𝑒𝑓 𝑠 ∆𝑃𝑚 𝑠 -
1 1 ∆𝜔 𝑠
+ + 1
- 1 + 𝜏𝑔 𝑠 1 + 𝜏𝑇 𝑠 2𝐻𝑠 + 𝐷
1
𝑅
• Assume constant reference power ∆𝑃𝑟𝑒𝑓 → 0
∆𝜔 𝑠 1 + 𝜏𝑔 𝑠 1 + 𝜏 𝑇 𝑠
=
−∆𝑃𝐿 𝑠 2𝐻𝑠 + 𝐷 1 + 𝜏𝑔 𝑠 1 + 𝜏 𝑇 𝑠 + 1 𝑅
• Simulate the system for 0.2 pu load increase.
𝜏 𝑇 = 0.5 𝑠, 𝜏𝑔 = 0.2 𝑠, 𝐻 = 5 𝑠, 𝑅 = 0.05 𝑝𝑢, 𝐷 = 0.8
Example: Frequency Control of an Isolated Power
System
Automatic Generation Control (AGC)
• Change in load results in change in speed before the governor adjusts the input
corresponding to the new load.
• Droop controlled governor action results in a constant steady-state speed with
an offset.
• The speed or frequency can be restored to the nominal value using an
integrator (the integral unit monitors the average error over a period of
time and overcomes the offset).
• Automatic Generation Control (AGC)
• As the system load changes continuously, the generation is adjusted
automatically to restore the frequency to the nominal value.
• Assumption:
• System is assumed to be stable and steady-state is achievable.
• During large transient disturbances and emergencies, AGC is bypassed and
other emergency controls are applied.
AGC in a Single Area System
∆𝑃𝐿 𝑠
∆𝑃𝑔 𝑠 ∆𝑃𝑉 𝑠
∆𝑃𝑟𝑒𝑓 𝑠 ∆𝑃𝑚 𝑠 -
1 1 ∆𝜔 𝑠
+ + 1
- 1 + 𝜏𝑔 𝑠 1 + 𝜏𝑇 𝑠 2𝐻𝑠 + 𝐷
1
𝑅
𝐾𝐼
𝑠
∆𝑃𝑟𝑒𝑓 = −𝐾𝐼 ∆𝑓 𝑑𝑡
• The polarity of the integral control action is selected as negative so as to ensure
an appropriate signal to the speed changer (a positive frequency error should
generate a negative or decrease command).
AGC in the Multi-Area System
• Coherent groups of generators:
A group of generators which are closely coupled internally and swinging in unison.
Such generator turbines tend to have the same response characteristics.
• Control area:
A coherent group can be referred to as a control area.
The LFC loop can represent the control area.
A power system can be considered as a number of LFC areas interconnected by
means of tie-lines.
• Scenario: two areas represented by an equivalent generating unit interconnected
by a lossless tie line with reactance 𝑋𝑡𝑖𝑒 .
𝑋1 𝑋12 𝑋2
𝐸1 ∠𝛿1 𝐸2 ∠𝛿2
AGC in the Multi-Area System
𝐸1 𝐸2
𝑃12 = sin 𝛿12
𝑋12
𝑋12 = 𝑋1 + 𝑋𝑡𝑖𝑒 + 𝑋2 , 𝛿12 = 𝛿1 − 𝛿2
𝑑𝑃12 𝐸1 𝐸2
∆𝑃12 = ∆𝛿12 = 𝑐𝑜𝑠 𝛿12,0 ∆𝛿12
𝑑𝛿12 𝛿 𝑋12
12,0
𝐸1 𝐸2
∆𝑃12 = 𝑃𝑠 ∆𝛿1 − ∆𝛿2 , 𝑃𝑠 = 𝑐𝑜𝑠 𝛿12,0
𝑋12
• Tie line power appears as a load increase in one area and a load decrease in the
other area, depending on the direction of the flow.
∆𝛿1 > ∆𝛿2 → 𝑃𝑜𝑤𝑒𝑟 𝑓𝑙𝑜𝑤𝑠 𝑓𝑟𝑜𝑚 𝑎𝑟𝑒𝑎 1 𝑡𝑜 𝑎𝑟𝑒𝑎 2
AGC in the Multi-Area System
1
𝑅1 ∆𝑃𝐿1 𝑠
∆𝑃𝑉1 𝑠 ∆𝜔1 𝑠
∆𝑃𝑟𝑒𝑓1 𝑠 - ∆𝑃𝑚1 𝑠 -
1 1 1
+ +
1 + 𝜏𝑔1 𝑠 1 + 𝜏 𝑇1 𝑠 - 2𝐻1 𝑠 + 𝐷1
𝑃𝑠 +
∆𝑃12 𝑠
𝑠 -
∆𝑃𝑉 𝑠
∆𝑃𝑟𝑒𝑓2 𝑠 ∆𝑃𝑚2 𝑠 +
1 1 1 ∆𝜔2 𝑠
+ +
- 1 + 𝜏𝑔2 𝑠 1 + 𝜏 𝑇2 𝑠 - 2𝐻2 𝑠 + 𝐷2
∆𝑃𝐿 2 𝑠
1
𝑅2
AGC in the Multi-Area System
• Scenario: Load change in area 1 ∆𝑃𝐿1
• In steady-state, both areas will have the same frequency deviation.
∆𝜔1 = ∆𝜔2 = ∆𝜔
∆𝑃𝑚1 − ∆𝑃12 − ∆𝑃𝐿1 = 𝐷1 ∆𝜔
∆𝑃𝑚2 + ∆𝑃12 = 𝐷2 ∆𝜔
• Change in mechanical power is determined by the governor speed characteristics.
∆𝜔 ∆𝜔
∆𝑃𝑚1 =− , ∆𝑃𝑚2 = −
𝑅1 𝑅2
∆𝑃𝐿1 ∆𝑃𝐿1
∆𝜔 = − =−
1 1 𝐵1 + 𝐵2
+ 𝐷 +
𝑅1 1 𝑅2 + 𝐷2
1 1
𝐵1 = + 𝐷1 , 𝐵2 = + 𝐷2
𝑅1 𝑅2
1
+ 𝐷2 ∆𝑃𝐿1 𝐵2
𝑅2
∆𝑃12 =− =− ∆𝑃𝐿1
1 1 𝐵1 + 𝐵2
+ 𝐷 1 + + 𝐷2
𝑅1 𝑅2
Example
Two-area system connected by a tie line has the following parameters on a 1000
MVA common base.
Area 1 2
Speed regulation 𝑅1 = 0.05 𝑅2 = 0.0625
Frequency sensitive load coefficient 𝐷1 = 0.6 𝐷2 = 0.9
Inertia constant 𝐻1 = 5 𝐻2 =4
Base power 1000 𝑀𝑉𝐴 1000 𝑀𝑉𝐴
Governor time constant 𝜏𝑔1 = 0.2 𝑠 𝜏𝑔2 = 0.3 𝑠
Turbine time constant 𝜏 𝑇1 = 0.5 𝑠 𝜏 𝑇2 = 0.6 𝑠
The units are operating in parallel at the nominal frequency of 60 Hz. A load change
of 187.5 MW occurs in area 1. Assuming the synchronizing power coefficient
𝑃𝑠 = 2 𝑝𝑒𝑟 𝑢𝑛𝑖𝑡, calculate the steady-state frequency and the change in line flows.
