IEEE Transactions on Power Systems, Vol. 11, No.

4, November 1996

1805

An Adaptive Approach to Load Shedding and Spinning Reserve Control During Underfrequency Conditions

V. N. Chuvychinl
Member

N. S.Gurov*
Non-Member
I*

S. S.Venkata**
Fellow

R. E. Brown**
Student Member

*RigaTechnical University Riga, Latvia

Energy Group, Dept. of Electrical Engineering University of Washington, Seattle, WA,

Abstrect-Emergency conditions arising due to generating power deficiency and the consequent drop in power system frequency can lead to system collapse and a large scale loss of load. Underfrequency load shedding (UFLS) is a globally accepted practice to handle this situation. Most UFLS schemes use pre-specified step sizes based upon frequency measurements. This paper presents an adaptive scheme which uses both frequency and rate-ofchange of frequency measurements to dynamically set UFLS relays if more than one generation outage is experienced. It then proposes a technique for coordinating UFLS and the activation of spinning reserves through localized governor control. Recent developments in computer based frequency and rate-of-change of frequency relays makes this scheme both feasible and attractive.

I. INTRODUCTION

A sudden loss of generation, causing a mismatch between energy supplied and energy demanded, will result in a system frequency drop. If governor action cannot activate spinning reserve quickly enough to restore the system to its normal operating frequency, underfrequency load shedding (UnS) serves as a last-resort tool to prevent the system from collapse.
96 205-5 PWRS A paper recommended and approved by the IEEE Power system Engineering Committee of the IEEE Power Engineering society for presentation at the 1996 IEEEJPES Winter Meeting, JanUWY 2125, 1996, Baltimore, MD. Manuscript submitted July 31, 1995; made available for printing January 15, 1996.

UFLS is common practice for electric utilities around the world [l-51. WL!I uses under-frequency relays (sometimes equipped with time delays) to drop loads as the frequency drops. Depending on the philosophy and the needs of the power company, the: number of frequ,encysteps varies from two to f&een [6]. Tlzis basic technique has not appreciably changed since its inception more that 50 years ago. For an UFLS system to be most effeclive, the location and magnitude of all generation and loads is needed. Unfortunately, there is not enough time to obtain this information in an underfrequency emergency 271. Both generation and load profiles are constantly changing (due io load shedding, changing generator set points, and generator outages) yet underfrequency relays have a single set point for all scenarios. A need exists to develop an adaptive UFLS system which can customize underfrequency relay set points in response to any system condition. Recent efforts to improve UFLS use the rate of change of frequency, dydt, as an additional control variable [6-91. These methods shed load when dydt is greater than a pre-set value. Anderson et. al. [SI1 presents a more sophisticated approach which determines the amount of load to be shed based on frequency, df/ddt, and ihe inertia constant system. These methods are a more advanced approach to UFLS but do not account for the constantly changing generatiodload characteristics of the system. For example, the inertia constant is perpetually changing as the amount of load connected to each UFLS relay varies from hour to hour. A recent paper [9] suggested an adaptive load slhdding qProach for cogeneration plants using power flow results. This paper and others [loll] show that UFLS can be improved by incorporating selftuning, adaptive features. During an emergency underfrequency condition of a power system, localized underfrequency governor control (UFGC) should override controls based om economic dispatch. This will help prevent the system From collapse by activating spinning reserves more quickly. lJFGC and UFLS, as can be seen, occur concomitantly. IJnfortunately, no

0885-8950/96/$05.000 1996 IEEE

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method exists to coordinated these two functions. This paper proposes a method based on frequency and dfdt. This paper is divided into five sections. Section I1 develops a matliematical model for UFLS based on phase plane analysis. Adaptive UFLS and simulation results of a Latvian power System are described i n Section 111. Section I v presents the strategy and philosophy for coordinating adaptive U F L s with WGC. Section v concludes the Paper and gives recommendations for future work. 11. MATHEMATICAL MODEL The governing dynamic equation for an equivalent machine connected to an infinite bus [l l , 121 is shown in (1). do o H- = Pc ( 2 ~ 0 a ) - - D(o)Pr. dt 0 n H total amount of inertia of the rotor masses in kg/m2.It is equal to the sum of generator inertia, HG , and load inertia, HL. o angular frequency in radsecond. o, nominal angular frequency in radsecond. PG generator output at w, in Watts. PL load at w, in Watts D(o) a frequency dependent coefficient to account for frequency dependent loads.

rived from (3) as seen in (4):

limit

(4)

A boundw curve on the phase plane be conveniently represented using (4). An example of such a boundw curve is shown in Figure 1. Points above the curve represent a surplus of generation and points below the curve represent a deficiency in generation,

_."
1.5

3 1.0
m

3
'e)

-0.5

-1.0
47.0 47.5

48.0

48.5

49.0

49.5

50.0

Frequency (Hz)

Figure 1.Phase Plane Boundary Curve

Equation (1) can be simplified to the'per unit form given If an UFLS relay is able to measure both frequency and and w by$ in equation ( 2 ) by replacing H by T .P / dydt, it can incorporate phase plane analysis into its function [13]. Modern microprocessor based relays can aid in implementing this method [14-171. This allows the status of a P G =PL TL f . $ + f p ( f ) (2) power system, given by (3), to be compared with the bound2 f . f n - f 2 - T G . f .m 3 ary curve given by (4). No control is necessary when f = fn TGand TL are inertia constants of generators and load in sec- and dydt = 0. When the system state falls below boundary onds. When load is equal to generation, (2) can be reduced to curve, load should be shed During the load shedding process, the system state will (3). move as a trajectory on the phase plane. When this trajectory moves above the boundary curve, load shedding should T L .f ,rf & +f,2D(f) = I (3) cease. This basic technique of phase plane UFLS can be fur2 f . f n - f 2 - T G . f . rd f f ther improved by incorporating adaptive features where underfrequency relays automatically change their frequency Many difficulties arise when attempting to determine the settings based on frequency and dfdt measurements coefficients of a frequency dependent D#. This paper, as is commody done, assumes that D# is constant and equal to 111. ADAPTIVE UFLS unity.From this assumption it follows that (3) is valid whenf =fn and dydt = 0. When (3) is invalid, the system is transient 3. I Description of the Concept in nature. Hence, by measuring frequency and the rate-ofchange of frequency and substituting these values in equation The authors propose an adaptive UFLS method that (3), the power system status at any time can be determined. utilizes both frequency and dydt measurements to change For the purpose of analysis, it is convenient to visualize the relay settings. This is done by identzBing j?equency drops dynamic process in terms of a phase plane (dydt VS f l subsequent to the initialj?equency drop. If a subsequent drop [9,10,13]. is identified, usually due to a sequential loss of generation The limits of the system's state, when the generating and facilities, all UFLS relays will be reset based on the differload power under nominal frequency are equal, may be de- ence between the last frequency local maximum and the last

807

mum (this type of c a s c a gene~tion ~~~ 3.2 ~ i ~ u ~ ofthe ~ tLatv,ian i o ~ Power ~ y ~ t ~ loss o c c m more than 50% of the cases in Latvia). The conThe Latvian power s y s t e ~ cept can be better ~ d e ~ o by o d examining Fi wing se of p o ~ e n ~ large ~ l y generat~onde?e& load is connected to UELS n and hydro power stations in this region and the total inertia con a wide range. For s i ~ ~ ~ ~ an t ie o n ivalent , single ~ a~ o d ~with ~ l ~ the following system ~ ~ a ~ is assumed. ~ t ~ The r ssystems base generating power is 500 MW. Twenly steps of load shedding between 48.5 and 46.5 Hz, with step size of 0.1 Hz, mmvE is adopted (this is a common scheme in Latxia). The corresponding power step is set ,at 16 MW. The inertia constant of the system, H, is fixed at a n average value of 5 seconds and DQI is assumed to be unit,y. In this study, all relays are assumed to be without time delays. Figure 3 illustrates the locus of dJdt versus frequency on a phase plane during an underfrequency condition. The Figure 2. Dynamic behavior during UFLS simulation starts with a 150 M W loss of generation (point 1) where dydt drops below 4 IMs and the frequency drops from In F i w e 2, a genemtion facility has been tripped out. 50 Hz to 48.5 Hz in less thzm1 second (point 2). Th.k results in a generation deficiency and a in system Figue 4 illustrates the Same process on a frequency verthe frequency. When the tripping ms time plane. me first stc;p of the load shetiding is Settings fi to fm, take Place b Y SteP load shedding at this stage (point 2). Aftc;r nine steps of the load shedding, indicated by curve 0.If sufficient load is shed, then the fre- dpjt becomes positive and the frquency begins to haease quency Will cease to drop and Will rise as shown i n m ~ 0. e (point 3, t = 1.37 seconds). After 22 seconds, the frequency D h g the transition from 0 to Curve 0, there has risen to a 49 Hz (point 4 ) . At this point, an additional loss will be a change in sign of dWt at ti. The relay will record of 150 MW generating poi~er takes place, This causes dydt the corresponding frequency value, fmh, in case it is needed to drop below -5 Hds. later. It is at this point that adaptive UFLS has an effect. As At this juncture, assume that a .second generation facility the frequency begins to drop a second time, all underfreis removed from the system. This will lead to the new fre- quency devices not initiated during first underfrequency quency drop characterized by curve 0. Because all loads condition, will raise their settings by 1.3 E[z (49.0 - 47.7). connected to the relays with settings from f, to f,;l are The first step of adaptive load shedding is initiated at point 5. tripped already, the frequency will drop without any UFLS As seen from the Figure 4, the second frequency decline does action until frequency drops below f , . not lower the system frequmcy below 48 Hz. Adaptive UFLS can handle this situation more effectively. It notices a change in sign of d td at t2. When this change in sign is noticed, the corresponding frequency value, f , is recorded. Each relays tripping frequency, f,, is then reset to its new value, fx(newt, as defined in (5).
f.(new)

= f,

+( f m m

-fwin 1

As a result, the frequency drop will not be as low as in the classical case and the frequency recovery process, seen in curve @,willbe faster. It is important to note that all UFLS adaptive functions can be implemented indqendently in each relay, which is important for any UFLS scheme. In addition, advances in microprocessor based relays allow for data gathering
(frequency and d f I d t ) ) , &at&

processing, and adaptive functions

26.5

47

4 7 . 5

48
rrequeney

48.5

49

49.5

50

(UZ)-->

well w i t h i n the time required for successful UFLS.

Figure 3. Adaptive UFLS Phase Plane Analysis

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Frea. vs lime

present load) of a system is chosen so that the loss of one or more generating units does not cause too far a drop in system frequency [13,18-201. If a severe underfrequency condition occurs, this spinning reserve should be activated as quickly as possible in an attempt to prevent the system from colapse. To do this, the authors propose a specialized control scheme termed underfrequency governor control (UFGC). For maximum effectiveness, UFGC should begin at the very beginning of a frequency decline in a power system and should be localized control-independent of emergency management system (EMS) communication. The authors propose the following UFGC initiation criteria:
1. The system frequency drops below a preset level (e.g., in a 50 Hz system, frequency settings are usually from 48.8 to 49.7 Hz). 2. A sudden abnormal tripping of a large generating unit or a sudden abnormal tripping of a transmission line connecting two parts of the power system is detected. 3 . dfdt is negative and reaches an unacceptable level.

Time in seconds

Figure 4. Dynamic Response with Adaptive UFLS

Figure 5. Dynamic Response without Adaptive UFLS

After recognizing the need UFGC, the load reference set points of all governors should be set to their maximum value. This will force generation output to increase at the fastest possible rate. If Micient spinning reserve generation is not available, power should be imported from a neighboring system [191. Importing of powershould only take place at the frequency restoration stage. In the case of islanding, priority should be given to the island with the largest load. When the underfrequency condition begins to improve, generators can be gradually transferred back to AGC. Since UFGC is ubiquitous with UFLS, it is desirable if their functions are coordinated with each other.

The dashed line of Figure 3 shows the system phase 4.2 uFLs and uFGc Coordination plane response to non-adaptive UFLS. Figure 5 shows the non-adaptive dynamic response. In this case, the second loss In an severe underfrequency situation, both UFLS and of generation causes the system fi-equency to fall to 46.4 UFGC Will be O C d g s i m ~ ~ e o ~TlOY C~Ordhite . these two mechanisms, the authors propose a method based on the Hz-2.2 Hz lower than in the adaptive case. system phase plane. To illustrate, consider Figure 6. This represents a power system which will normally operate at IV. UNDERFREQUENCY GOVERNOR CONflROL point N. Assume that the system has lost a generator. The frequency of the system will not change its value instantly, 4. I Strategy o f Under@equency Governor Control but there will be a jump in the ratesf-change of frequency. The frequency of a generator is maintained by its gover- This corresponds to a move from point N to point N. nor The control variable for the governor, the load reference When the frequency in the power qxtem reaches setting set point, is normally obtained from an automatic generation ~ U F G C(Point A), UFGC will be initiated and all generators control (AGC) system based on economic &spatch. During Will inCre2Ee their load reference Set points to their maximum an emergency underfrequency situation, economics should values. when the frWenCY further decreases to f m s @ O h t not determine governor action and supplementary local con- B), UFLS is initiated. In zone 0 both UFLS and UFGC are at work attempting to bring the system frequency to its normal trol should be initiated. The amount of spinning reserve (the total amount of operating point. UFLS causes discrete positive jumps in dfdf generation available from all synchronized units minus the and UFGC causes a smooth increase in dfdt

system frequency back to its normal operating point.

V. CClNCLUSIONS
1. The authors proposed a new underfrequency load shedding philosophy based on the system frequency phase plane. This method requires measuring both frequency v> and its rate-of-change (dfdf)to estimate the system state at any given time. These meameiments can be implemented using microprocessor-based relays.
2. The authors expanded the phase plane method of UFLS

When Point C is reached, frequency has reached a local frequency when Of generation take place. This adaptive approach has been impleminimum and will now begin to rise. In zone 0, between mented by several utilities in Latvia ancl Russia. lines LN ancl PN, UFLS ceases and governor control gradually transferred back to AGC. For example, at point-D all 3. The authors propose a n underfrequency governor control governors will be controlled by UFGC. At point E, the govwhich can replace the AGC signal in underfrequency ernor associated with curve GINwill have been transferred to emergencies. This method of control, though completely AGC. Each governor will then, in turn,be transferred back to localized, can be cooirdinated with adaptive UFLS using AGC until none are receiving control input from UFGC. It is phase plane analysis. important to note that this process is coordinated without the need for communication between generator sites. 4. The authors are presently researching subjects which When the state of the power system above curve PN it is expand on the ideas presented in this paper. These efforts in zone @ (see point F). this zone, all governors being involve the use of fuzzy rules to rtpresent heuristic controlled be AGC. The system is now safe from collapse howledge in an attempt to automate the determination and should be allowed to regain its normal operating freofgeneratorKnvalues, quency, point N, before the loads tripped by UFLS are carefully restored. VI. ACKNOWLEDGMENTS Curves LN, GINthrough G,N, and PN can be described by the following equation: The authors would like to thank Tom Piukai for conducting the simulations reported in this paper and for developing df/dt=K, ( f, - f ) (6) the figures. The first author acknowledges the financial support from CIES for the opportunity to complete the work i d is the at the given moment, fn is the fie- develop the paper while he was at the Uiv&ty of Washingquency and I S , is a coefficient corresponding to generator x ton, Seattle, WA, USA, (in general K, may be frequency dependent resulting in curves that are not straight lines). The I C , values correspondVII. ]REFERENCES ing to each generator need to be determined by an engineer familiar with underfrequency conditions and the specific [11 R. M. Maliszewslu, R. D. Dunlop, G. L. Wilson, "Frequency Actuated Load Shedding and Restoration, Part I - Philosophy," IEEE Trans. system being considered. Factors involved in choosing K, Power Apparatus and Systems, vol. PAS-90, no. 4, JulyJAug. 1971, pp. values will include when it is safe to return governor control 1452-1459. to AGC and in which order this should occur. I21 H. E. Lokay, and V. Burtnuk, "Applicationo f Underfrequency Relays for In summary, coordination of UFLS and UFGC results in Automatic Load Sheddmg,"lEEE Trans.Power Apparatus and Systems, vol PAS-87, no. 3, May/June 1968, pp. 776-783. three stages when an underfrequency occurs. In Stage 1, both B Barzam, System Automation, Moscow Energija, 1973 ( i n RwUFLS and UFGC work together in an attempt to prevent the f31 A. sian). system from collapsing When the frequency begins to rise, it [41 M Mandozzi, V Menditto et al ,"Recent Improvements o f Emergency has entered Stage 2. In this stage, UFLS is curtailed and each Automatic Control o f ENEL Power System in Interconnected and Iso-

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lated Operation, 1992 CIGRE General Session, Paper No.39-302.

. Peterson, Adaptive Estknation of Power System IS] A. A. a g i s and W. L

Frequency Deviation and its Rate of Change for calculating Sudden Power System Overloads, BEE Trans Power Delivey, vol5, n0.2, April 1990, pp. 585-592 [(;I A Ait-Kheddache, Present Achievements and Potential Future Developments For Load Sheddmg Techniques. in Proceedings of the 1987 annual North American Power Sjvnposium, 1987. [7] C . Concordia, L. H. Fink, and G. Poulhkkas, Load Shedding on an Isolated System, LEHYPES 1995 Winter Meeting, New York, N Y , IEEE, 1995 Mirheydar Adaptive Method for derfrequency Load Sheddimg Relays, EX23 Truns. on Power Systems, vol. 7, no. 2, May 1992, pp. 647-653. 191 M. M. Ekateb, M F. Dim, New Proposed Adaptive Frequency Load Shedding Scheme For Cogeneration Plants, in Proceedings ofrhe 5th International Conference on Developments in Power Sysiem Protectian, London, UK, 30 March-l April, 1993, pp. 236-239. [lo] V. N. Chuvychin, N. S. Gurov, New Methods and Means for Power System Control D u r i n g Emergency Conditions Caused by the Power Deficiency, in Proceedings o f the Internationul Conference on Relay Protection and Local Autoinution in Elect& Power Syszerns, Ljubljana, Slovenija, 8-9 October, 1992, 10 pages. 1111 V. A. Venikov, Electromechanical Transients in Electrical Power Systern, Moscow: Vysshaya Shkola, 1970 (in Russian) [12] P. M. Anderson, A. A. Fouad, Power System Conirol and Stabilily, Revised Printing, New York IEEE PRESS Power Systems Engineerkg Series, The Institute of Electncal and Electronic Engineers, Inc., 1994, 464 pp. I131 N. S. Gurov, V N Chuvychin, A S Semenov, and V. J Haritonchlk, Method of Automatic Control of Reserve Generators During UnderErequency Emergency Condition, USSR PutenfNo 1684859, 199 1. [I41 M S Sachdev, A Digital Frequency and Rate of Change of Frequency Relay ,Truns. o f the Canadian Ekstrical Associution, vo1.17, part.3, 1978, Paper No. 78-SP-145,pp. 1-10. [I51 M. S . Sachdev, A Technique for Digital Relays to Measure Frequency and its Rate of Change, Preprints of the IFAC S y m p o ~ i ~on m Power Plant Conirol, Seoul, Korea, 1989, pp 896-901 [I61 W.-J Lee, J -C Gu, A Microprocessor Based Intelligent Relay, .EEE Trunsactiom on Power Delivery, vo1.4, no.4, October 1989, pp. 20182024. [17] M. Kezunovic, P Spasojevic et. al, New Digital Signal Processing Algorithms for Frequency Deviation Measurement, EEE Tramactions OnFOWQr~Q~iVe~, vol.?, 110.3, July 1992, QQ. 1563-1573. 1181 N. S. Gumv, V. N. Ghuvychm, J. J. Priedite, and V. J. Baritonchk ~ ~ e ~of h Automatic od Frequency A c t ~ ~ Load e d Shedding, U3SR PatentNo. 1302377,1987. u~, ~ x p w ~ pof w Spinning ~ Reserves in 1191 ~ . C h o w ~ h RBillinton, ~ ~ ~ o ~ e Generation c t e d Systems, W3E.E Transactions on Power Sysfern,vol. 6, no 1, Feb. 1991, pp 43-50. [ZO] N. Ghowdhury, Energy Method of Spinnkng Reserve Assessment in ~terconnection of Power Systems, E E E Traprsactionson Power Systems, vol.8, no.3, A~g.1993, pp 865-872
!IAn

ES
v. N. chuvychin rece,ved hls Doctor of Science 111 Engineemg
degree
1992 from the Riga Technical University, Riga, Latvia, where be is currently an Associate Professor of Circuit TheoIy i n the Department of Power and Electrical Engineering. He was a visiting Fulbright Scholar at the University of Texas, Arlington, in 1990 and at the University of Washington, Seattle in 1994. His research interests include protective reiaymg and power system
a professor If) the aep-ent of Power and cal Engineermg, &ga Technical IJniversity, Riga, Latvia. X i s research interests include power system emergency control and automation. Ne holds two patents and has widely published in thjiasea,

K t i m l z v

S. S. Venkata received h i B S and M.S degree from the Indian Institute of Techology He received Ph,D, fron the ~ i n i v e r s iof ~ south Carolina, Columbia in 1971. Ne is presently at the University of Washington where he is a Professor of Electricai Engmeermg and Dvector of the Eledric Energy Industrial Consortium. Dr.Venkata is a member of Tau Beta Pi, Sigma Xi, Eta Kappa Nu, and several IEEE committees and subcomnittees. He has published and presented more than 120 papers and is co-author of Introductionto Electric Energy Devices (Prentice-Hall, 1987) He is a registered professional engineer and his research interests include computer applications to power systems, protection, six-phase transmission, and distribution automation.

R. E. Brown received his l3.S.E E. from the University of Washington m

1991. While worlung as a consulting engmeer, he returned to the UW and received his M.S.E.E in 1993. Mr. Brown is presently a Pb.D candidate, is a member of Eta Kappa Nn and is the current PES student chapter president. Exis research interests include intelligent systems applications to power systems and distributionsystem reliability.