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0885-8%9/92$03.W@1992 IEEE
435
t
Usi(t) = -K (2)
11; ACEi dt
i , j = 1,2
Il
where KIi = g a i n of t h e i n t e g r a l c o n t r o l l e r o f a r e a , i
I n p r a c t i c e , t h e r e e x i s t s a maximum l i m i t on t h e
r a t e of c h a n g e of power t h a t c a n be g e n e r a t e d by a
steam p l a n t [ 1 0 , 1 4 ] . Hence, i f t h e s p e e d o f r e s p o n s e
demanded from t h e c o n t r o l system a n d / o r t h e l o a d
change a r e t o o f a s t under t r a n s i e n t c o n d i t i o n s t h e
steam f l o w and a u x i l i a r y s y s t e m i n e r t i a w i l l p r e v e n t
a t t a i n m e n t of t h i s r a t e . The c o n t r o l l e r d e s i g n e d f o r
t h e u n c o n s t r a i n e d s i t u a t i o n may n o t be s u i t a b l e . The
a n a l y s i s performed i n [ 1 0 , 1 4 ] i n d i c a t e t h a t w i t h
c o n s t r a i n t s imposed by GRC, t h e dynamic r e s p o n s e s o f
t h e s y s t e m e x p e r i e n c e l a r g e r o v e r s h o o t s and l o n g e r
settling times, compared to t h e case w i t h o u t
c o n s i d e r i n g GRC. For t h e a n a l y s i s h e r e , a g e n e r a t i o n
rate l i m i t a t i o n of 0.1 pu. p e r m i n u t e [ l o ] i s
considered. That is,
d
Fig. 2 B l o c k diagram of AGC with governor deadband, -- ApG 0.0017 pu. MW/sec. (6 1
reheat steam turbines, generation rate dt
constraint and t h e SMES unit. The GRC i s t a k e n i n t o a c c o u n t by a d d i n g a l i m i t e r t o
t h e t u r b i n e p o w e r as shown i n F i g . 2 .
The d e s c r i b i n g f u n c t i o n a p p r o a c h i s used t o
incorporate the governor deadband n o n - l i n e a r i t y THYRISTOR CONTROL OF SMES UNITS
[7,12]. The power s y s t e m shown by t h i s model i s a
l i n e a r c o n t i n u o u s - t i m e dynamic s y s t e m and i t c a n b e The o p e r a t i o n o f SMES u n i t s , t h a t i s , c h a r g i n g
r e p r e s e n t e d by a s e t o f l i n e a r d i f f e r e n t i a l e q u a t i o n s and d i s c h a r g i n g , t h e s t e a d y s t a t e mode and t h e power
o f t h e form: modulation d u r i n g dynamic o s c i l l a t o r y p e r i o d a r e
c o n t r o l l e d by t h e a p p l i c a t i o n o f t h e p r o p e r p o s i t i v e
o r negative voltage t o t h e inductor. This can be
a c h i e v e d by c o n t r o l l i n g t h e f i r i n g a n g l e of t h e
where E , U and E a r e s t a t e , c o n t r o l and d i s t u r b a n c e converter bridges.
v e c t o r s and [A], [ B ] , [ r ] a r e constant matrices N e g l e c t i n g t h e t r a n s f o r m e r and t h e c o n v e r t e r
a s s o c i a t e d w i t h them r e s p e c t i v e l y . l o s s e s , t h e d c v o l t a g e i s g i v e n by [ 1 5 ] :
U and i n t h e d i a g r a m c a n b e i n p u t s from
eithers1integrays2controller o r a d a p t i v e c o n t r o l l e r . Ed = 2Vdo cosu - 2 I d Rc (7)
P r o p o r t i o n a l f r e q u e n c y n e g a t i v e f e e d b a c k i s found t o
improve t h e performance i n b o t h t h e c a s e s and K and where Ed = dc v o l t a g e a p p l i e d t o t h e i n d u c t o r (kV)
KAF2 r e p r e s e n t t h e g a i n s a s s o c i a t e d w i t h i t . the c1 = f i r i n g angle (degree)
c o n v e n t i o n a l i n t e g r a l c o n t r o l l e r i s used f o r t h e I = c u r r e n t t h r o u g h t h e i n d u c t o r (kA)
s u p p l e m e n t a r y c o n t r o l o f AGC, e q u i v a l e n t commutating r e s i s t a n c e (ohm)
:R =
TI-
436
maximum open circuit bridge voltage of part of the STR. The plant is identified by a model of
vdo = each 6-pulse converter at c1 = 0" (kV) a pre-assigned order, and for every sampling interval,
The inductor is initially charged to its rated the identifier computes the parameters of this model.
current, Id0 by applying a small positive voltage. The controller uses these parameters and the system
Once the current has attained the rated value, it is data to calculate and output the control to the plant.
held constant by reducing the voltage ideally to zero Each area of the power system is a complicated
since the coil is superconducting. A very small non-linear system by itself. It is possible to model
voltage may be required to overcome the commutating such a system by a linear, discrete, finite-order
resistance. model with time-varying parameters. Area i may be
In Fig.2, U and U are the control inputs to modelled as
the SMES units ki
area i2and 2 respectively. These
inputs can either be signals proportional to ACE or yi(t) + ailyi(t-1)+....+ainiYi(t-ni)
signals from separate adaptive controllers. In both
cases, inductor current deviation is sensed and used = bilui(t-ki-l) +. ...+ biniui(t-ki-ni) + 'Yi[ei(t)
as a negative feedback signal in the SMES control
loop. This feedback helps in the quick restoration of + Cileil(t-l) +. ...+ciniei(t-ni)l (10)
the coil current to the set point, following a sudden
change in the load demand [5,7]. The block diagram where y.(t) is the ACE, u.(t) is the input variable,
representation of the SMES control scheme is shown in ei(t) dpresents the uncer$ainty in the model, ail.. .
Fig.3. With ACE as the control signal, a. bil... binil 9' . and cil.. c. are model .
p&ieters, ni is ;he order of model, ki
1 represents the pure delay, (t-j) represents the time
BEdi = _______
l+sTdci
[KMCi (BiAFi + AP.1 J.) - KIdi AIdi] (t-jT) and T is the sampling period.
Disturbance
i.j = 1,2 (8) I
where AE is the incremental change in converter
voltage &V); AId. is the incremental change in SMES I
current (kA); TdC is the converter time delay (Sec.);
KuC is the gain of the SMES control loop for ACE
signal (kV/unit ACE); K is the gain of the inductor
current deviation feedgack loop (kV/kA) and s is the
Laplace operator. I den t l f ier 0
_--- - - - Par m e t e r s
U Controller -
Fig. 4 General structure of a self-tuning regulator.
It is proposed to minimize the variance of yi'
Fig. 3 Block diagram representation of SMES control (k.+l) sampling periods ahead of time. Then at time
scheme. (t$ki+l), the model given by (10) can be written as
If adaptive signal is used to control SMES, then,
A
1
= _______
yi(t+ki+l) + ailyi(t+ki) +....+ainiyi(t+ki+l-ni)
[KLADi 'LADi - KIdi &dil (9)
l+sTdci = b ilU i(t)+....+biniui(t+l-ni) + yi[ei(t+ki+l)
i = 1,2
where UMDi is the input signal from the adaptive +cilei(t+ki) +....+ciniei(t+ki+l-ni)] (11)
controller and KLADi is the gain of the SMES control
loop for adaptive signal (kV/unit signal). By writing (10) at the instants (t+k.), (t+k.-1),
...,(t+l) and substituting in (11) $0 elimhate
PARAMETER IDENTIFICATION AND ADAPTIVE CONTROL yi(t+ki), yi(t+ki-1), ...
,yi(t+l), (11) may be modified
as
Power system parameters are a function of the
operating point. To keep the system performance near
yi(t+ki+l)+Oilyi(t)+. .
. + ~ i ~ t-mi+l)
~y~(
its optimum, jt is desirable to track the operating = BiO[ ui(t)+Bi1ui( t-l)+. ..+Biliui( t-li)]+~i( t+ki+l)
conditions and use the updated parameters to compute
the control signal. (12)
It may be possible to represent such a system by where m. = n., 1. = ni+k.-1, BiO is a preselected
a linear low-order discrete model with time-varying constant' paramher,' CL. . aid 6 . . are coefficients
parameters. A recursive least squares (RLS) parameter computed from the paldmeters .:A and bi . in (IO),
estimation technique, which has a fast convergence c .=O and the disturbance E.(t) is d moving dverage of
rate [ll], is used in this work to estimate these ohder k. of the driving n o i k e.(t).
time-varying parameters. Based on this model which Fo; a system modelled by t12), if the parameters
tracks the operating conditions of the system, control
is computed using a minimum variance strategy. Thus,
ail,...,a.mi ,and Bil,
known, tfte minimum-variance &rol
...,
6. . are constants and
strategy [ 161 is
the process is the equivalent of a controller with simply
dynamically changing coefficients and is referred to 1
as the self-tuning regulator (STR). ui(t) = --- [a.
11y.1
(t)+ ...+
aimiyi(t-mi+l)]
6io
Self-Tuning Regulator - 6i1~i(t-1). .-6i1i~i(t-'-i) . (13)
The general structure of the STR is shown in If the model parameters are unknown and changing,
Fig.4. The identifier and controller form the software they are to be identified. In the STR, these para-
=
437
n
438
015
0 0181 '
1
E
i O Q Z l > ,
0 018
150 1% ZOO
,
215
,
ZSQ 175
, ,I
100
-5
SHES p.mikv/urut
100 1%
ACE sqnolt
150
- 175
SHES gcinlkV/uel d ~ p t . ~ l g n ~ l l
-o.nl .'
0
.
10
.
10
.
30
.
LO
.
50
I
Tin. It1CS1
(c)
E
i
-*-U
a-
0 OW ' '
0 IO 10 30 LO
TInW 1 1 1 c 1 1
r a t i n g s (30MJ) i n c o r p o r a t e d i n b o t h a r e a s f o r a s t e p
load increase of 0.01 pu. i n area-1. Integral 0.0011 I
c o n t r o l l e r i s used f o r t h e supplementary c o n t r o l . The O ' O I
F
439
- 0.02
0 50 100 150 200 250 300
-0.021 I
0
,
50
I
100
1
150
, "
200
I
250
I
300
I -0.021
0
, 1
50
, ,
100 150 ZOO
, I
,
250
I
300
I
Time ( s e c s ) Time Isecsl-
Fi9.12 Transient respcnse with integral F j g . 1 3 Transient response with adaptive Fig.14
(bl
\ ,
F i g . l 2 ( a ) a n d ( b ) show t h e f r e q u e n c y d e v i a t i o n o f APPENDIX
area-1 and t i e - l i n e power d e v i a t i o n r e s p e c t i v e l y ,
w i t h o u t SMES i i n i t s and w i t h c o n v e n t i o n a l i n t e g r a l
c o n t r o l l e r f o r s u p p l e m e n t a r y c o n t r o l . F i g . 1 3 shows SYSTEM DATA [ 1 2 , 1 3 1
t h e same v a r i a b l e s when t h e s u p p l e m e n t a r y c o n t r o l i s
made adaptive, and w i t h o u t SMES. The o v e r - a l l The power s y s t e m p a r a m e t e r s c h o s e n f o r t h e
performance ( t i m e - e r r o r a c c u m u l a t i o n ) i s b e t t e r w i t h p r e s e n t s t u d y a r e g i v e n below. N o t a t i o n s c a r r y t h e
adaptive c o n t r o l l e r even i f t h e l o a d changes occur u s u a l meanings and a r e similar t o t h a t i n [13].
many times b e f o r e t h e t r a n s i e n t s due t o t h e p r e v i o u s
l o a d change s e t t l e . F i g . 1 4 d e p i c t s t h e improvement
b r o u g h t i n f u r t h e r by i n c o r p o r a t i n g t h e a d a p t i v e
Area c a p a c i t y , PR1 = pZ2 I
2000 Mw
fo = 60 Hz; - 3.14 r a d i a n
c o n t r o l l e d SMES, k e e p i n g STR f o r t h e s u p p l e m e n t a r y K = K = 120 Hz/$u.MW
c o n t r o l . The a d a p t i v e SMES h e l p s i n r e d u c i n g t h e mag- Rpl = R2: = 2 . 4 Hz/py.Mw
n i t u d e of d e v i a t i o n s i n f r e q u e n c y and t i e - l i n e power D1 = D = 8.33~10- pu.Mw/Hz
and a l s o i n q u i c k l y damping o u t t h e o s c i l l a t i o n s . Bi = B i = R = 0 . 4 2 5 pu.MW/Hz
440
T = T = 2 0 s S. C. T r i p a t h y , R. Balasubramanian and P. S.
Tpl = TrP2 = 10.0 s Chandramohanan N a i r , " E f f e c t o f Superconducting
T e = 0.6707 MW/radian Magnetic Energy S t o r a g e on Automatic G e n e r a t i o n
KLL
Trl
=
= '$
K = 0.333
= 0.20 s
T2 = 0.30 s
C o n t r o l C o n s i d e r i n g Governor Deadband and B o i l e r
Dynamics", paper p r e s e n t e d i n t h e IEEE PES
I n t e r n a t i o n a l Power Meeting - I n d i a , Nov. 1990,
T
:: =
and t o be p u b l i s h e d i n IEEE Trans. on Power
SMES UNIT DATA [ 2 , 4 ] Systems (Paper No. 90 I C 588-4 PWRS).
J . Kanniah, S. C. T r i p a t h y , 0. P. Malik and G. S .
idol Ido2 = 4.5 kA Hope, "Microprocessor-based adaptive load-
frequency c o n t r o l " , P r o c e e d i n g s IEE, Vo1.131,
Tdlmin - lfd2min 4 * 0 kA Idlm x = 'd2max = 4'9 kA
dCl dc2 = 0.03 s = L2 = 2.5 H pt.C, No.4, J u l y 1984.
M. A . S h e i r a h and M. M. Abd-El-Fattah, "Improved
OPTIMIZED GAIN PARAMETERS load-frequency self-tuning regulator",
I n t e r n a t i o n a l J o u r n a l of C o n t r o l , Vo1.39, No.1,
S t e p l o a d i n c r e a s e o f 0.01 pu. i n area-] pp.143-158, J a n u a r y 1984.
C. T. Pan and C. M. Liaw, "An Adaptive C o n t r o l l e r
i) Integral controller for supplementary f o r Power System Load-Frequency C o n t r o l , " IEEE
c o n t r o l and ACE s i g n a l f o r SMES c o n t r o l : Trans. on Power Systems, Vo1.4, No.1 pp.122-128,
February 1989.
K12 KBFl = KAF2 G. C. Goodwin and K . S. S i n , "Adaptive F i l t e r i n g
$icl
K
Idl
=
=
=
KLAC2
KId2
= 0.25
I100 kV/unit ACE
- 0.20 kV/kA
= 0.50
P r e d i c t i o n and C o n t r o l " , ( b o o k ) , P r e n t i c e - H a l l ,
1984.
S. C. T r i p a t h y , G. S. Hope and 0. P. Malik,
ii) Integral controller for supplementary "Optimization of load frequency control
c o n t r o l and STR f o r SMES c o n t r o l : p a r a m e t e r s f o r power s y s t e m s w i t h r e h e a t steam
t u r b i n e s and governor deadband n o n l i n e a r i t y " ,
Proc.IEE, Vo1.129, Pt.C, No. 1, pp. 10-16, J a n . 1982.
0. I . E l g e r d , " E l e c t r i c Energy Systems Theory :
KLADl = KLAD2 = 225 kV/unit s i g n a l An I n t r o d u c t i o n " , ( b o o k ) , McGraw-Hill, 1982.
M. L. K o t h a r i , P. S. S a t s a n g i and J. Nanda,
iii) Adaptive c o n t r o l l e r f o r b o t h supplementary "Sampled-Data Automatic G e n e r a t i o n C o n t r o l of
c o n t r o l and SMES c o n t r o l : I n t e r c o n n e c t e d Reheat Thermal Systems C o n s i d e r i n g
G e n e r a t i o n Rate C o n s t r a i n t s " , IEEE T r a n s . on
Fl,Kq2,
-LADl
K - and K a r e same a s above.
LADz1i1350 kV4t;it s i g n a l
Power Apparatus and Systems, Vol.PAS-100, No.5,
pp.2334-2342, May t,981.
E. W. Kimbark, Direct C u r r e n t T r a n s m i s s i o n ,
Random l o a d i n area-I Vol. 1" , ( b o o k ) , John Wiley , 1971.
K . J. Astrom, U. B o r i s s o n , L. Ljung and B.
iAF1,
a12
K F2,
I1 =
KI I and KId2
= 8.20 (when
a r e same a s above.
integral controller
Wittenmark, "Theory and A p p l i c a t i o n s of S e l f -
Tuning R e g u l a t o r s " , Automatica, Vo1.13, pp.457-
i s used and SMES n o t c o n n e c t e d ) 476, Pergamon P r e s s , 1977.
KLm1= KLAD2= 350 kV/unit signal J . M. Mendel, "Lessons i n D i g i t a l E s t i m a t i o n
Theory", ( b o o k ) , P r e n t i c e - H a l l , 1987.
F. P. deMello, R. J. M i l l s and W. F. B'Rells,
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441