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Jagatheesan Kaliannan
Anand Baskaran
Nilanjan Dey
Amira S. Ashour
CRC Press
Taylor & Francis Group
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Boca Raton, FL 33487-2742
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Preface, vii
Book Objectives, ix
Authors, xi
CHAPTER 1 ◾ Introduction 1
1.1 LOAD FREQUENCY CONTROL
AND AUTOMATIC GENERATION CONTROL 3
1.2 BIO-INSPIRED OPTIMIZATION ALGORITHMS 4
1.3 LITERATURE SURVEY 6
v
vi ◾ Contents
REFERENCES, 59
INDEX, 71
Preface
vii
viii ◾ Preface
ix
http://taylorandfrancis.com
Authors
xi
xii ◾ Authors
Introduction
1
2 ◾ Bio-Inspired Algorithms in PID Controller Optimization
Ki d
∆Pref = u(t ) = − K p .ACE −
Ti ∫ ACE − K T dt ACE
d d (1.1)
1.3 LITERATURE SURVEY
The gain values of the fuzzy PID controller are optimized using
teaching-learning based optimization (TLBO) that B. K. Sahu
et al. [1] proposed for tuning of fuzzy PID controllers for the AGC
of a two unequal-area thermal power systems. A hybrid particle
swarm optimization–pattern search (hPSO-PS) procedure is
applied in the AGC for optimizing the fuzzy PI controller gain
values in a multiarea interconnected power system [2]. R. K. Sahu
et al. [3] obtained the PI controller gain values using the minority
charge carrier inspired (MCI) algorithm in an AGC of an inter-
connected hydrothermal power system. The bat-inspired algo-
rithm has been applied to optimize the PI controller gain values
for a multiarea interconnected power-generating system to solve
LFC issues such as frequency deviations and tie-line power flow
deviations and stability of the power system [4]. A fractional
order PID (FOPID) controller has been designed for the LFC of
an interconnected power generating system, where the controller
gain values were optimized using a multiobjective optimization
method [5].
Introduction ◾ 7
Dash et al. [6] used the cuckoo search (CS) algorithm to tune two
degrees of freedom (2-DOF) controllers for solving the AGC issue
(frequency deviations and tie-line power flow deviations within
interconnected power systems) in a multiarea interconnected
power system with several flexible alternating current transmis-
sion systems. A PD-PID cascade controller has been designed for
solving the AGC issue in multiarea interconnected thermal power
systems by considering the generation rate constraint nonlinear-
ity effect [7]. A hybrid firefly algorithm–pattern search (hFA-PS)
method designed controller has been applied for solving the AGC
issue in multiarea interconnected power systems by considering
the integral time absolute error objective function [8]. Sahu et al.
[9] implemented a hybrid local unimodal sampling (LUS) and
TLBO technique tuned fuzzy PID controller into the LFC of inter-
connected multisource power systems.
Shankar and Mukherjee [10] applied the quasi oppositional har-
mony search technique to optimized classical controller gain values
into the LFC of multiarea, multisource power generating-systems.
Vukarasu and Chidmbaram [11] used the bacterial foraging opti-
mization (BFO) algorithm to optimize the proportional–double
integral (PI2) controller in the AGC of interconnected power sys-
tems under deregulated environments. The fuzzy PID controller
parameters are optimized using the firefly algorithm, which have
been applied into the AGC of multiarea, multisource power systems
with a unified power flow controller (UPFC) and superconducting
magnetic energy storage unit by Pradhan et al. [12]. Sharma and
Saikia [13] used the grey wolf optimizer algorithm–based classical
controller in a multiarea solar thermal–thermal power system as a
secondary controller.
Francis and Chidambaram [14] proposed a teaching–learning-
based optimization technique for tuning of PI controller gain val-
ues and PI+ controller gain values. Shivaie et al. [15] proposed a
modified harmony search algorithm–tuned PID controller for the
LFC of interconnected nonlinear hydrothermal power systems.
The PI/PID controller gain values have been optimized using the
8 ◾ Bio-Inspired Algorithms in PID Controller Optimization
Load Frequency
Control of Single
Area Thermal
Power System
with Biogeography-
Based Optimization
Technique
11
12 ◾ Bio-Inspired Algorithms in PID Controller Optimization
PID controller +− GDB Governor Boiler dynamics Reheater Turbine GRC + Generator
−
SLP
Speed
1/R
regulator
The area control error (ACE), which is the input of the investi-
gated power system, is specified as follows:
ACE = ∆f (2.1)
2.2 CONTROLLER DESIGN
AND OBJECTIVE FUNCTION
Generally, the PID controller consists of a proportional control-
ler, integral controller, and derivative controller. The proportional
controller steadies the gain, yet it yields a steady-state error. The
integral controller eliminates the steady-state error and the deriv-
ative controller reduces change of error rate. The structure of the
PID controller under concern is shown in Figure 2.2.
The PID controller input is the ACE and the output is the con-
trol signal (U), where the output is given as follows:
Ki d
∆Pref = U = − K P ⋅ ACE −
Ti ∫ ACE − K T dt ACE
d d (2.2)
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