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I. I NTRODUCTION
HE rise in population, urbanization and rapid industrialization has lead to a comprehensive increase in the
electrical power demand. The various sources of power include fossil fuels, hydro, thermal, geothermal, solar and wind
energies. The reduction in fossil fuels reserve has lead to an
increase in the price of the existing resources. Moreover, the
green house gases released because of burning the fossil fuels
create environmental hazards. This led to the development of
alternate energy sources and thrust on efficient utilization of
existing renewable energy sources[1].
Microgrid serve as a perfect alternative in some regions
and can be combined with fossil fuel based megagrid and
is progressively being used to meet the energy needs. It
uses small electric power generation systems comprising of
renewable energy sources as well as small capacity fossil fuel
sources located near consumers and load centers providing
them reliable source of electric power with less transmission
and distribution losses[2]. In addition, microgrid if integrated
with the megagrid will allow bulk consumers to save on electricity costs by using their generators during high peak demand
periods when power from the megagrid becomes expensive
c
978-1-4673-0136-7/11/$26.00
2011
IEEE
power output from the wind turbine and solar system. The net
power available to the load is the sum of the powers from
the primary and secondary sources in microgrid. In this paper,
the simplified models with their first order approximations are
used as transfer functions for all the microgrid components,
and the power system [13]. The proposed system is shown in
Fig. 1. The mathematical models of each component in the
microgrid, and the power system are as follows.
Fig. 2. The block diagram of the diesel generator with its delay characteristics
in output in power system.
Fig. 1. The block diagram of the microgrid with primary sources : solar,
wind energy system and secondary sources: diesel generators, fuel cell, aqua
electrolyzer, battery, flywheel and power system.
A. Diesel generator
Diesel generator can follow the load demand variations by
means of their speed and power control mechanisms within
short intervals of time. When power demand fluctuates, the
diesel generator varies its output via fuel regulation. On the
other hand since this is a synchronous generator, its output
voltage can be regulated by controlling the excitation. In this
paper the diesel generator is represented with a first order
transfer function, represented in (1) as proposed in [14].
Gdg (s) =
Kdg
1 + sTdg
(1)
Where, Kdg is the gain and Tdg is the time constant of the
diesel generator. The gain and time constant of diesel generator
are considered as 1 and 2 sec. respectively. For the diesel
generator it is also considered the delay in the output as
Kd
(2)
1 + sTd
Where Kd =1 and Td =20 sec. Therefore the transfer function of a diesel generator will be represented as
Gd (s) =
GdgT (s) =
Kdg
Kd
1 + sTdg
1 + sTd
(3)
Fig. 3.
B. Aqua electrolyzer
D. Battery
Fig. 4.
Fig. 6.
Where
Kbat
(6)
1 + sTbat
Where Tbat is the time constant and Kbat is the gain of the
battery as 0.1 sec. and 1 respectively. The amount of charging
and discharging powers vary between -0.5 to +0.5 p.u.
Due to the time delay between the system frequency deviation and power deviation, the transfer function for system
frequency variation to per unit power deviation is given by
Gbat (s) =
Gsys (s) =
f
K
=
Pe
Ms + D
(9)
(10)
GAINS
E. Flywheel
A flywheel, in essence is a mechanical battery, simply a
mass rotating about an axis. This may still prove to serve
us as an important component on tomorrows vehicles and
future energy needs. Flywheels are one of the most promising
technologies for replacing conventional lead acid batteries
as energy storage systems for a variety of applications, including automobiles, economical rural electrification systems,
and stand-alone, remote power units commonly used in the
telecommunications industry. With recent advances, the mechanical property of composites has rekindled interest in using
the inertia of a spinning wheel to store energy. The flywheel
is modeled as a first order equation (7) and implemented in
microgrid as shown in Fig. 6.
Gf w (s) =
Kf w
1 + sTf w
(7)
(8)
TABLE I
T UNING OF THE PID CONTROLLER GAINS ACCORDING TO Z IEGLER
N ICHOLS METHOD
Controller
P
PI
PID
Kp
0.5 Ku
0.45 Ku
0.6 Ku
Ki
1.2 Kp / Tu
2 / Tu
Kd
Tu /8
Frequency
Kf
4
2
0.2
0.1
0.1
bias
Kp
Ki
Kd
0.0397
0.1220
0.35
0.4188
0.3654
0.0756
0.2154
0.03
0.01666
0.01666
3.3084
3.1608
0.07
0.01
0.01
Fig. 7.
by running the system for 500 sec. During this time the system
Fig. 8. Simulation results of Case 1: (a) Supply power PS (b) Power supply
form diesel generator Pdg (c) Fuel cell Pf c (d) Aqua electrolyzer Pae (e)
Battery Pbat (f) Flywheel Pf w (g) Error in power supply P (h) Frequency
deviation of power systems f .
Fig. 9. Simulation results of Case 2: (a) Supply power PS (b) Power supply
form diesel generator Pdg (c) Fuel cell Pf c (d) Aqua electrolyzer Pae (e)
Battery Pbat (f) Flywheel Pf w (g) Error in power supply P (h) Frequency
deviation of power systems f .
Fig. 10. Simulation results of Case 3: (a) Supply power PS (b) Power supply
form diesel generator Pdg (c) Fuel cell Pf c (d) Aqua electrolyzer Pae (e)
Battery Pbat (f) Flywheel Pf w (g) Error in power supply P (h) Frequency
deviation of power systems f .
V. C ONCLUSION
In this paper a systematic approach for tuning of PID controllers in microgrid and calculation of optimal frequency bias
are presented. The frequency bias calculation is an important
aspect in the power system dynamics and plays a key role
in controller gains. This factor directly effects the individual
components and subsequently the overall performance of the
microgrid. So the selection of frequency bias is very crucial
and is addressed in this paper. The tuning of the PID controller through Zeigler Nichols approach is quite robust to
G Mallesham received the B.E degree in Electrical and Electronics Engineering from University College of Engineering (A), Osmania University,
Hyderabad, India in 2000. He received his Masters degree in Control Engineering and Instrumentation from Indian Institute of Technology, Delhi, India
in 2002. Presently he is working towards PhD in the Department of Electrical
Engineering, Indian Institute of Technology, New Delhi, India
S Mishra (M97-SM04) received the B.E. degree from University College of Engineering, Burla,
Orissa, India, and the M.E. and Ph.D. degrees from
Regional Engineering College, Rourkela, Orissa, India, in 1990, 1992, and 2000, respectively. In 1992,
he joined the Department of Electrical Engineering, University College of Engineering Burla as
a Lecturer, and subsequently became a Reader in
2001. Presently, he is an Associate Professor with
the Department of Electrical Engineering, Indian
Institute of Technology Delhi, India. Dr. Mishra has
been honored with many prestigious awards such as the INSA Young Scientist
Medal in 2002, the INAE Young Engineers Award in 2002, and recognition
as the DST Young Scientist in 2001 to 2002, etc. He is a Fellow of Indian
National Academy of Engineering, Institute of Engineering and Technology
(IET), London, UK and Institute of Electronics and Communication Engineering (IETE), India. His interests are in soft computing applications to power
system control and power quality and renewable energy.