Voltage Regulator with Dual PID Controllers

Enhances Power System Stability

Michael. J. Basler, Richard C. Schaefer, Kiyong Kim, Russell Glenn

Basler Electric
Route 143, Box 269
Highland, Illinois, U.S.A. 62249

Abstract – High performance excitation of these voltage regulators had a

systems have become very important as destabilizing effect on the power system.
limited generation capacity and Power oscillations of small magnitude and
consumer needs for power continue to low frequency often persisted for long
increase. periods of time. In some cases, this
presented a limitation on the amount of
This paper introduces a voltage power able to be transmitted within the
regulator with two PID controllers. The system. Power system stabilizers were
fast controller is utilized with the power developed to aid in damping of these power
system stabilizer in service and the slow oscillations by modulating the excitation
controller is utilized when the power supplied to the synchronous machine.
system stabilizer is disabled. Transfer
from one controller to the other is Transient stability is primarily concerned
automatically accomplished without a with the immediate effects of a transmission
bump when the power system stabilizer line disturbance on generator synchronism
status signal changes. Two sets of gains such as a transmission fault. Clearing the
are optimally tuned: less loop gain for fault may result in the removal of one or
use without a power system stabilizer more transmission elements from service
(PSS) to maintain stable generator and, at least temporarily, weakening the
performance and higher gain for use transmission system. Simultaneously, it
with a PSS to optimize the transient and causes the generator rotor to accelerate
dynamic performance after a with respect to the system, increasing the
power angle. When the fault is cleared, the
disturbance.
electrical power is restored to a level
corresponding to the appropriate point on
This concept was commissioned, and
the power angle curve. This causes the unit
the actual test results indicate its
to decelerate, reducing the momentum the
effectiveness.
rotor gained during the fault. If there is
enough retarding torque after fault clearing
to make up for the acceleration during the
1. INTRODUCTION fault, the generator will be transiently stable
on the first swing and will move back toward
its operating stable point. If the retarding
In the 1950s and into the 1960s, many torque is insufficient, the power angle will
power generating plants were equipped with continue to increase until synchronism with
continuously acting automatic voltage the power system is lost.
regulators. As the number of power plants
with automatic voltage regulators grew, it Power system stability depends on voltage
became apparent that the high performance regulator response and the clearing time for

1
a fault on the transmission system. A fast highest level of immunity to transient loss of
and powerful excitation system is machine synchronism.
recommended to improve the power
transfer capability of the synchronous
machine. However, the fast voltage B PE
regulator can be detrimental to the dynamic
stability unless means are added to restore PM
A
damping using a power system stabilizer.

Digital technology is being used for δ

excitation systems from large steam and
hydraulic turbines down to small diesel
driven generators. Recently some articles Figure 1. Effect of High Initial Response
covering features, functions, benefits, Excitation
models, etc. of the digital excitation systems
While fast excitation systems provide
have appeared in the literature [1,2].
tremendous benefits to transient stability
following large disturbances to the system,
In this paper, practical concerns will be
the benefit may be outweighed by the
discussed regarding transient and dynamic
impact of the excitation system on damping
stability and the benefits of a dual PID
the oscillations that follow the first swing
controller that help optimize performance.
after the disturbance. In fact, a fast
responding excitation system can contribute
2. NEED FOR DUAL AVR
a significant amount of negative damping to
CONTROLLERS
oscillations, because it can reduce damping
torque. Thus, an excitation system has the
Maintaining power system stability depends
potential to contribute to small signal
on many factors, including excitation system
instability of the power systems while the
speed of response and forcing capacity, as
voltage regulator with very high gain can be
well as relay tripping time. Increased field
detrimental to the dynamic stability [5]. Such
forcing capability and decreasing response
high gain cannot be used for practical
time increases the margin of rotor stability.
operation if the PSS is not in service. This
This effect is illustrated in Figure 1, where
includes cases like the rough loading zone
the lower Curve A, represents the power
of a hydro turbine or steam turbine
angle curve of a lower forcing, slower
generator where the PSS may need to be
response excitation system. Comparing the
disabled, a device failure, and/or
area under the curve for acceleration when
maintenance testing of the generator.
the electrical load is less than the
mechanical load to the area under Curve A
To alleviate the concern, historically,
for deceleration clearly shows that a
compromises were required in the AVR
machine under the example condition will
controller gain settings to ensure a stable
lose synchronism. For Curve B representing
voltage regulator response with and without
a faster, higher forcing exciter, the area
the power system stabilizer, or a transfer to
under the curve where electrical power
manual control. None of these compromises
exceeds mechanical power is much greater,
offers desirable operation for optimum
sufficient to allow the generator to recover
system response. Thus, it is desirable to
from the rotor swing. This benefit is the
have a fast controller with the power system
source of the demand placed on generation
stabilizer and a slow controller without the
engineers to install the fastest available
power system stabilizer.
excitation equipment with very high levels of
positive and negative forcing to secure the

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Another option includes the use of two designing dual PID gains for the digital
voltage regulator controllers, each having excitation control system has been
separated PID gain settings tuned to presented in earlier papers [3,4].
provide optimum performance depending
upon the power system stabilizer being VS VRMAX
active or inactive. +
w/o
VC - Slow PID PSS KA
Σ VR
3. VOLTAGE REGULATOR WITH DUAL Controller 1 + sT A
+
PID CONTROLLERS
V REF with -VRMIN
Fast PID PSS
In the past, an analog voltage regulator Controller
approach to providing a dual controller
scheme would have been very complex,
and would have required sophisticated Figure 2. DECS Regulator with dual PID
analog logic for switching gain groups. controllers
Tuning techniques would be very intense
and cumbersome to derive appropriate
settings for the dual stability groups. 4. POWER SYSTEM STABILIZER
Furthermore, a switching between stability
A power system stabilizer is designed to
setting groups may not have always been
add damping to the generator rotor
bumpless [9]. In the digital world, available
oscillations by controlling its excitation using
technologies simplify the implementation of
a supplemental stabilizing signal. To
a dual PID setting group and speed
supplement the generator's natural
commissioning utilizing interface startup
damping, the stabilizer must produce a
software. DECS-300 is a digital voltage
component of electrical torque that opposes
regulator designed to utilize the cost
changes in rotor speed. Various types of
advantage of digital electronics [3,4]. It is
power system stabilizers were reviewed for
implemented with the state of the art
damping local mode oscillation [7].
techniques using two embedded
PSS-100 is designed based on the
microprocessors to perform the various
integral-of-accelerating-power as illustrated
control functions of the excitation system. It
in the block diagram of Figure 3. It matches
utilizes the digital PID controller with the
the IEEE Type PSS2A dual input power
sampling time of 4 msec.
system stabilizer model.
As shown in Figure 2, dual PID controllers
are implemented into the automatic voltage speed
high
+
low ramp
+ phase
gain AVR
pass Σ pass tracking Σ and
regulator. DECS-300 is capable of storing (ω) filter filter filter
-
lead
limiter
Summing
Point
+
two sets of parameters and making an
automatic and bumpless, on-line transfer Electrical high
Power pass integrator
from one PID gain set to the other when the (P e ) filter

power system stabilizer status signal

changes. A slow response controller is
utilized when the stabilizer is off, while a fast Figure 3. Dual Input Power System Stabilizer
controller is used when the power system
stabilizer is in service.

The DECS-300 regulator allows adjustment 5. EXCITATION SYSTEM

of most of the time constants and gains PERFORMANCE TESTS
within the regulator. This provides a system
The digital excitation system was designed
that can be tuned over a wide range of
for a hydro turbine generator rated for 137
machine dynamics. The method for

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MVA at 0.8 P.F. Excitation requirements
were such that the static exciter could
provide not less than 450 Vdc field forcing.
With 70% rated terminal voltage into the
main field. With a nominal field current of
812 amps at rated load, rated power factor.
Each static exciter consisted of 100%
functional redundant digital controllers Figure 4. AVR 2% step response with Kg=35,
whose output tracks the primary and backup Kp=200, Ki=20 (25 msec/Maj Div)
controller to ensure bumpless transfer. Each
digital controller was implemented with two
PID setting groups, allowing for different Voltage Rise time Recovery Voltage
settings selectable based upon the PSS step time overshoot
being active or inactive. change
2% 0.072 sec 0.232 sec 11.07%
Initial testing was performed to determine
suitable PID gain settings based upon off- Table 1. Performance of off-line step response
line voltage step responses. For each PID with Kg=35, Kp=200, Ki=20 (200 Vac/Maj Div)
setting group, 2% voltage step responses
were performed to derive final settings for
unit operation. Figure 4 illustrates response
and voltage characteristic after a 2%
voltage step was performed with a fast PID
setting group intended for use with the
power system stabilizer being active. For
this system, the power threshold was set for
25% power. The proportional gain was set
Figure 5. AVR 2% step response with Kg=25,
such that it was 10 times higher than the Kp=200, Ki=20 (25 msec/Maj Div)
integral gain with an overall loop gain set for
35. The loop gain considers the overall gain
of the generator, the digital controller and Voltage Rise Recovery Voltage
the amount field forcing. Table 1 provides step time time overshoot
performance results for Figure 4, which change
illustrates the voltage step response with 2% 0.1 sec 0.4 sec 4.06%
the fast gains implemented. Note the
voltage rise time is 0.072 seconds for the Table 2. Performance of off-line step response
2% voltage step change with an 11% with Kg=25, Kp=200, Ki=20 (200 Vac/Maj Div)
voltage overshoot.
It was important that the transition to the
Slower PID settings were established for alternate PID setting group be bumpless to
use with the non-active power system avoid any unacceptable disturbance to the
stabilizer: a slower PID setting group was system. Figure 6 illustrates performance
utilized for stable operation. This was between the two gain sets. At time equal 4
accomplished by reducing the overall loop seconds, the transfer is made from the fast
gain from 35 to 25. Figure 5 illustrates the PID gain group to the slower gain group
unit’s performance with a 2% voltage step with no visible affect in generator voltage as
change off-line while Table 2 highlights unit shown in the top graph. Field voltage
performance. Note, the rise time has indicates more stable operation after
increased to 0.1 seconds while the voltage transfer to the slower gains.
overshoot is reduced to 4%.

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 control of the power system stabilizer, the
excitation system cannot remain in the fast
PID setting group for safe operation.

fast gain ! | " slow gain

Figure 6. Transfer between fast and slow gain

Figure 7. AVR 2% voltage step response with

After PID analysis was complete, the Slow gain and with PSS disabled
machine was paralleled to the bus, and
performance was again reviewed between
the two setting groups. The first test
highlights unit performance with the slow
PID setting group with a 2% voltage step
change and the machine operating at 80
MW.

Figure 7 shows the AVR with a +2% voltage

step response using the slower gain group
at 80 MW without the power system
stabilizer. Generator Megawatts, Mvars
and generator voltage response are
illustrated before and after the system
disturbance. A stable generator voltage and
Mvars are experienced, but machine MW
swings initially then dampens after a few
cycles, providing for a stable machine.
Overall performance was deemed
acceptable without the use of the PSS.

Figure 8 illustrates the generator Figure 8. AVR 2% voltage step response with
Fast gain and with PSS disabled
performance using the fast PID setting
group with the power system stabilizer
disabled. Note how the machine MWs are Figure 9 again shows performance with the
unstable when the 2% voltage step change fast PID setting group, except now the
is introduced. Without the supplemental power system stabilizer has been enabled.

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The power system stabilizer is tuned to
provide optimum performance with the fast
voltage regulator gain set. Note how unit
performance favorably changes when the
2% voltage step change is introduced. The
machine’s power swings once and
immediately stabilizes, illustrating a very
well-behaved system.

6. CONCLUSIONS

A general discussion of the issues related to

the need for dual AVR controllers has been
addressed. The performance data indicates
very desirable features in the supplemental
control functions that can benefit both
transient and dynamic stability with use of
very aggressive gain sets for performance.
Test data demonstrates that, with the dual
PID setting group, performance does not
need to be compromised when the power
system stabilizer is disabled.

Figure 9. AVR 2% step response with fast gain

and PSS at full load.

7. REFERENCES

[1] IEEE Task Force on Digital Excitation

Systems “Digital Excitation Technology - A
Review of Features, Functions and
Benefits” IEEE Summer Power Meeting,
Panel Session on Digital Excitation System
Applications and Models, January 23, 1996,
Baltimore, MD.

[2] IEEE Task Force on Digital Excitation

Systems, “Computer Models for
Representation of Digital-Based Excitation
Systems”, IEEE Transactions On Energy

6
Conversion, Vol. 11, No. 3, September, Missouri, on an automated, two-way
1996, pp. 607-615. communications system for electric utilities.
He has worked at Basler Electric in
[3] K. Kim, A. Godhwani, M.J. Basler, Highland, Illinois, since 1981 in various
“Supplemental Control in a Modern Digital design and engineering management
Excitation System”, presented at the positions related to the field of synchronous
IEEE/PES Summer Meeting, Singapore, machine excitation systems. He is the
July, 2000. manager of Electrical Engineering of the
Power Systems Group and is on the IEEE
[4] A. Godhwani, M.J. Basler, K. Kim Excitation Systems Subcommittee. He is an
"Commissioning Experience with a Modern Adjunct Lecturer at Southern Illinois
Digital Excitation System", IEEE University at Edwardsville, teaching in the
Transactions On Energy Conversion, Vol. area of Power and Controls.
13, No. 2, June, 1998, pp. 183-187.
Richard C. Schaefer holds an AS degree in
[5] F.P. de Mello, C. Concordia, “Concept of Electrical Engineering and is Senior
Synchronous Machine Stability as Affected Application Specialist in Excitation Systems
by Excitation Control”, IEEE Transactions for Basler Electric Company. Since 1975,
On PAS, Vol. PAS-88, No. 4, April, 1969, Rich has been responsible for excitation
pp. 316-329. product development, product application,
and the commissioning of numerous plants.
[6] F.P. de Mello, L.N. Hannett, J.M. Undrill, He has authored technical papers for
“Practical Approaches to Suplementary conferences sponsored by IEEE Power
Stabilizing from Accelerating Power”, ", Engineering Society, IEEE IAS Pulp and
IEEE Transactions On PAS, Vol. PAS-97, Paper, Society of Automotive Engineers,
No. 5, Sept/Oct, 1978, pp. 1515-1522. Waterpower, Power Plant Operators, and
IEEE Transactions on Energy Conversion
[7] H. Vu, J.C. Agee, “Comparison of Power and IEEE Transactions on Industry
System Stabilizers for Damping Local Mode Applications publications. He is IEEE 421.4
Oscillations”, Paper presented at the 1992 Task Force Chairman for modification of
PES Summer Meeting. Preparation of Excitation System
Specifications and committee work for IEEE
[8] R.C. Schaefer, K. Kim “Digital Excitation PES and IAS.
System Provides Enhanced Tuning Over
Analog Systems”. IEEE Transactions On Kiyong Kim received the BS degree from
Industry Applications, Vol. 37, No. 4, Hanyang University, Seoul, Korea in 1979.
July/Aug, 2001. He worked for Agency for Defense
Development, Korea from 1979 to 1988 as
[9] P. Kundur, D.C. Lee, H.M. Zein El-Din, a research engineer in system modeling,
“Power System Stabilizers for Thermal analysis, design and simulation. He
Units: Analytical Techniques and On-Site received the M.S.E.E. degree from the
Validation”, IEEE Transactions On PAS, University of South Florida at Tampa in
Vol. PAS-100, No. 1, January, 1981, pp. 81- 1991 and D.Sc. degree in the Systems
95. Science and Mathematics Department at
Washington University in Missouri in 1995.
AUTHOR BIOGRAPHIES: At Basler Electric his current interests are
Michael J. Basler graduated in Electrical stability analysis of power systems, design
Engineering in 1979 and obtained his MSEE of excitation control system, and large-scale
in 1989 from the University of Missouri at computational methods.
Rolla. From 1979 to 1981, he worked at
Emerson Electric Company in St. Louis,

7
Russell D. Glenn graduated in electrical
engineering in 1983 and obtained an
M.S.E.E. from Purdue University in 1985.
He worked for Texas Instruments from 1985
to 1991 as an electrical engineer in the
Industrial Controls division. In 1995 he
received a Ph.D in Electrical Engineering
from Ohio University specializing in control
systems analysis and design. From 1995 to
2000 he developed control software for high
speed digital printing applications. He is
employed at Basler Electric in Illinois, as a
senior software development engineer in
excitation control systems.

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