Novel tuning rules for PIDC and PID load frequency controllers considering robustness and sensitivity to measurement noise

Abstract A novel method for designing Load Frequency Controllers (LFC) is proposed in the present paper. Proportional-Integral-Derivative controllers with and without serial compensator – PID and PIDC – are considered in contexts of single-area and multi-area power systems. The proposed design methodology focuses on achieving efficient load disturbance rejection, while simultaneously preserving an adequate level of robustness with respect to measurement noise and model uncertainties. Explicit tuning formulas are provided for single-area power systems with reheated, non-reheated and hydro turbines, characterized by two free parameters. Dependence of integral performance measures (IAE and ITAE), as well as TVd for evaluating control effort, and sensitivity indices (Ms, Mp and Mn) in terms of these parameters is analyzed, and the associated performance-robustness trade-off is elaborated in detail. The proposed method is extended to multi-area power systems in a straightforward manner using decentralized PIDC/PID tuning. A comparative numerical study is performed involving several LFC techniques recently reported in literature.

[1]  Yogesh V. Hote,et al.  Load Frequency Control in Power Systems via Internal Model Control Scheme and Model-Order Reduction , 2013, IEEE Transactions on Power Systems.

[2]  Goshaidas Ray,et al.  H∞ load frequency control of interconnected power systems with communication delays , 2012 .

[3]  Nedjeljko Perić,et al.  Sliding mode based load-frequency control in power systems , 2010 .

[4]  Jawad Talaq,et al.  Adaptive fuzzy gain scheduling for load frequency control , 1999 .

[5]  C. Concordia,et al.  Tie-Line Power and Frequency Control of Electric Power Systems [includes discussion] , 1953, Transactions of the American Institute of Electrical Engineers. Part III: Power Apparatus and Systems.

[6]  Sigurd Skogestad,et al.  Simple analytic rules for model reduction and PID controller tuning , 2003 .

[7]  Yogesh V. Hote,et al.  Fractional order PID controller for load frequency control , 2014 .

[8]  Mohamed Zribi,et al.  Adaptive decentralized load frequency control of multi-area power systems , 2005 .

[9]  Alessandro Pisano,et al.  Robust Finite-Time Frequency and Voltage Restoration of Inverter-Based Microgrids via Sliding-Mode Cooperative Control , 2018, IEEE Transactions on Industrial Electronics.

[10]  Nasser Hosseinzadeh,et al.  Load Frequency Control of a Multi-Area Power System: An Adaptive Fuzzy Logic Approach , 2014, IEEE Transactions on Power Systems.

[11]  Ertuğrul Çam,et al.  Fuzzy logic controller in interconnected electrical power systems for load-frequency control , 2005 .

[12]  Tore Hägglund,et al.  Software-based optimal PID design with robustness and noise sensitivity constraints , 2015 .

[13]  Yao Zhang,et al.  A robust decentralized load frequency controller for interconnected power systems. , 2012, ISA transactions.

[14]  Chen Peng,et al.  Delay-Distribution-Dependent Load Frequency Control of Power Systems With Probabilistic Interval Delays , 2016, IEEE Transactions on Power Systems.

[15]  Milan R. Rapaić,et al.  A revision of root locus method with applications , 2015 .

[16]  Miroslav R. Mataušek,et al.  PID controller frequency-domain tuning for stable, integrating and unstable processes, including dead-time , 2011 .

[17]  Behrooz Vahidi,et al.  A robust PID controller based on imperialist competitive algorithm for load-frequency control of power systems. , 2013, ISA transactions.

[18]  H. Shayeghi,et al.  Load frequency control strategies: A state-of-the-art survey for the researcher , 2009 .

[19]  Yogesh V. Hote,et al.  Stabilization of perturbed system via IMC: An application to load frequency control , 2017 .

[20]  Bernard Widrow,et al.  Application of neural networks to load-frequency control in power systems , 1994, Neural Networks.

[21]  Ertuğrul Çam,et al.  Application of fuzzy logic for load frequency control of hydroelectrical power plants , 2007 .

[22]  Ajit Kumar Barisal,et al.  Comparative performance analysis of teaching learning based optimization for automatic load frequency control of multi-source power systems , 2015 .

[23]  Wen Tan,et al.  Unified Tuning of PID Load Frequency Controller for Power Systems via IMC , 2010, IEEE Transactions on Power Systems.

[24]  Hossain,et al.  Improved Load Frequency Control Using a Fast Acting Active Disturbance Rejection Controller , 2017 .

[25]  Devendra K. Chaturvedi,et al.  Load frequency control: a generalised neural network approach , 1999 .

[26]  Bengt Lennartson,et al.  Evaluation and simple tuning of PID controllers with high-frequency robustness , 2006 .

[27]  Aditya,et al.  Design of Load Frequency Controllers Using Genetic Algorithm for Two Area Interconnected Hydro Power System , 2003 .

[28]  Somnath Pan,et al.  A new PID load frequency controller design method in frequency domain through direct synthesis approach , 2015 .

[29]  Amin Khodabakhshian,et al.  A new robust PID load frequency controller , 2008 .

[30]  Mehdi Rahmani,et al.  LMI-Based Robust Predictive Load Frequency Control for Power Systems With Communication Delays , 2017, IEEE Transactions on Power Systems.

[31]  Wen Tan,et al.  Tuning of PID load frequency controller for power systems , 2009 .

[32]  P. Kundur,et al.  Power system stability and control , 1994 .

[33]  F G Shinskey,et al.  How Good are Our Controllers in Absolute Performance and Robustness? , 1990 .

[34]  Haluk Gozde,et al.  Automatic generation control application with craziness based particle swarm optimization in a thermal power system , 2011 .

[35]  Ali Mohammad Ranjbar,et al.  Robust analysis and design of power system load frequency control using the Kharitonov's theorem , 2014 .

[36]  Sunwon Park,et al.  PID controller tuning to obtain desired closed loop responses for cascade control systems , 1998 .

[37]  E. S. Ali,et al.  Bacteria foraging optimization algorithm based load frequency controller for interconnected power system , 2011 .

[38]  Aidan O'Dwyer,et al.  Handbook of PI and PID controller tuning rules , 2003 .

[39]  Tao Liu,et al.  Analytical design of two-degree-of-freedom control scheme for open-loop unstable processes with time delay , 2005 .

[40]  Min Wu,et al.  Delay-dependent robust load frequency control for time delay power systems , 2013, 2013 IEEE Power & Energy Society General Meeting.

[41]  Nand Kishor,et al.  A literature survey on load–frequency control for conventional and distribution generation power systems , 2013 .

[42]  Mohammad Aldeen,et al.  An LMI approach to the design of robust delay-dependent overlapping load frequency control of uncertain power systems , 2016 .

[43]  Yong He,et al.  Further Results on Delay-Dependent Stability of Multi-Area Load Frequency Control , 2013, IEEE Transactions on Power Systems.

[44]  Tore Hägglund,et al.  Comparison Between Robust PID and Predictive PI Controllers with Constrained Control Signal Noise Sensitivity , 2012 .

[45]  Chung-Fu Chang,et al.  Area load frequency control using fuzzy gain scheduling of PI controllers , 1997 .

[46]  W.C. Chan,et al.  Optimal variable structure controller for the load-frequency control of interconnected hydrothermal power systems , 1984 .

[47]  Haluk Gozde,et al.  Comparative performance analysis of Artificial Bee Colony algorithm in automatic generation control for interconnected reheat thermal power system , 2012 .

[48]  Ashraf Khalil,et al.  Robust stabilization of load frequency control system under networked environment , 2017, Int. J. Autom. Comput..

[49]  Quan Pan,et al.  Further Improvement on Delay-Dependent Load Frequency Control of Power Systems via Truncated B–L Inequality , 2018, IEEE Transactions on Power Systems.

[50]  Kjetil Uhlen,et al.  Model Predictive Load-Frequency Control , 2016, IEEE Transactions on Power Systems.

[51]  Somanath Majhi,et al.  A new control scheme for PID load frequency controller of single-area and multi-area power systems. , 2013, ISA transactions.

[52]  Y. V. Hote,et al.  Fractional order PID controller for perturbed load frequency control using Kharitonov’s theorem , 2016 .

[53]  Marko Č. Bošković,et al.  Dominant pole placement with fractional order PID controllers: D-decomposition approach. , 2017, ISA transactions.

[54]  Y. L. Abdel-Magid,et al.  Optimal AGC tuning with genetic algorithms , 1996 .

[55]  Sahaj Saxena,et al.  Load frequency control strategy via fractional-order controller and reduced-order modeling , 2019, International Journal of Electrical Power & Energy Systems.

[56]  Fang Liu,et al.  A Two-Layer Active Disturbance Rejection Controller Design for Load Frequency Control of Interconnected Power System , 2016, IEEE Transactions on Power Systems.

[57]  Lalit Chandra Saikia,et al.  Automatic generation control using two degree of freedom fractional order PID controller , 2014 .

[58]  Kalyan Chatterjee,et al.  A comprehensive state of the art literature survey on LFC mechanism for power system , 2017 .

[59]  Ashraf Khalil,et al.  A New Method for Computing the Delay Margin for the Stability of Load Frequency Control Systems , 2018 .

[60]  Tore Hägglund,et al.  Measurement noise filtering for PID controllers , 2014 .

[61]  Hassan Bevrani,et al.  Robust Power System Frequency Control , 2009 .

[62]  Alf Isaksson,et al.  Derivative filter is an integral part of PID design , 2002 .

[63]  Rabindra Kumar Sahu,et al.  A hybrid firefly algorithm and pattern search technique for automatic generation control of multi area power systems , 2015 .

[64]  Nand Kishor,et al.  Load frequency regulation using observer based non-linear sliding mode control , 2019, International Journal of Electrical Power & Energy Systems.

[65]  Tomislav B. Sekara,et al.  Optimization of PID Controller Based on Maximization of the Proportional Gain Under Constraints on Robustness and Sensitivity to Measurement Noise , 2009, IEEE Transactions on Automatic Control.

[66]  P. Kundur,et al.  Definition and classification of power system stability IEEE/CIGRE joint task force on stability terms and definitions , 2004, IEEE Transactions on Power Systems.

[67]  Yang Mi,et al.  Decentralized Sliding Mode Load Frequency Control for Multi-Area Power Systems , 2013, IEEE Transactions on Power Systems.

[68]  Tarek Hassan Mohamed,et al.  Decentralized model predictive based load frequency control in an interconnected power system , 2011 .

[69]  Charles E. Fosha,et al.  The Megawatt-Frequency Control Problem: A New Approach Via Optimal Control Theory , 1970 .

[70]  C. T. Pan,et al.  An Adaptive Controller for Power System Load-Frequency Control , 1989, IEEE Power Engineering Review.

[71]  Pierluigi Siano,et al.  Challenges and Opportunities of Load Frequency Control in Conventional, Modern and Future Smart Power Systems: A Comprehensive Review , 2018, Energies.