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Studies in Infrastructure and Control
Anita Khosla
Mohan Kolhe Editors
Renewable
Energy
Optimization,
Planning and
Control
Proceedings of ICRTE 2022
Studies in Infrastructure and Control
Series Editors
Dipankar Deb, Department of Electrical Engineering, Institute of Infrastructure
Technology Research and Management, Ahmedabad, Gujarat, India
Akshya Swain, Department of Electrical, Computer and Software Engineering,
University of Auckland, Auckland, New Zealand
Alexandra Grancharova, Department of Industrial Automation, University of
Chemical Technology and Metallurgy, Sofia, Bulgaria
The book series aims to publish top-quality state-of-the-art textbooks, research
monographs, edited volumes and selected conference proceedings related to
infrastructure, innovation, control, and related fields. Additionally, established and
emerging applications related to applied areas like smart cities, internet of things,
machine learning, artificial intelligence, etc., are developed and utilized in an effort
to demonstrate recent innovations in infrastructure and the possible implications of
control theory therein. The study also includes areas like transportation infrastructure,
building infrastructure management and seismic vibration control, and also spans a
gamut of areas from renewable energy infrastructure like solar parks, wind farms,
biomass power plants and related technologies, to the associated policies and related
innovations and control methodologies involved.
Anita Khosla · Mohan Kolhe
Editors
Renewable Energy
Optimization, Planning
and Control
Proceedings of ICRTE 2022
Editors
Anita Khosla Mohan Kolhe
Department of Electrical and Electronics Faculty of Engineering and Science
Engineering University of Agder
Faculty of Engineering and Technology Kristiansand, Norway
Manav Rachna International Institute
of Research and Studies
Faridabad, India
© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature
Singapore Pte Ltd. 2023
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Singapore
Dedicated
to
Almighty
Preface
We feel great pleasure and honour to share that we had organized the presti-
gious Second International Conference on Renewable Technologies in Engineering
(ICRTE 2022), in association with Springer Nature on 07–08 October 2022, at Manav
Rachna International Institute of Research and Studies, Faridabad, India, in virtual
mode. The aim of this conference was to bring together academicians, researchers,
scientists, engineers and practitioners to exchange and share their experiences, ideas
and the results in the area of renewable sources integration planning and control and
their optimization solutions, smart structures for intelligent power with use of energy
storage and transportation systems and industry innovation and automation in smart
structures.
Energy is regarded as the most important building block in human development,
and it is a key factor that influences the sustainable development of any nation. The
conventional sources have an intimidating shadow on our present and future global
safety, environmental values, health and society in general. Hence, there is an urgent
need to promote renewable energy in Indian power sector. So to contribute in this
field, the Department of Electrical and Electronics and Electronics and Communi-
cation Engineering, Manav Rachna International Institute of Research and Studies,
Faridabad, in association with Springer had taken this initiative in successfully orga-
nizing Second International Conference on Renewable Technologies in Engineering,
(ICRTE 2022), on 7–8 October 2022, and the first conference in this series was held
on 15–16 April 2021.
During the conference, research scholars, academicians and industry experts, from
different parts of the globe, deliberated for two days on the interdisciplinary areas
like renewable sources integration planning and control and their optimized solu-
tions, smart structures for intelligent power with use of energy storage and trans-
portation systems for smart structures and industry innovation and automation in
smart structures.
It is great pleasure and honour for us to bring the proceedings of Second Inter-
national Conference on Renewable Technologies in Engineering (ICRTE 2022). All
presented papers are arranged in a book Renewable Energy Optimization, Planning
and Control under book series Studies in Infrastructure and Control.
vii
viii Preface
ICRTE 2022 is our humble effort at establishing a base, platform, against which
we can build a brighter tomorrow.
We would like to extend our heartfelt gratitude to all who have been associated
with this Second International Conference on Renewable Technology in Engineering
(ICRTE 2022), as without their support it was not possible to conduct this conference
and compile all the papers.
We are pleased to note the overwhelming response to our call of papers from the
authors for the conference. Our sincere thanks to all the authors for their contribu-
tions. We are also thankful to International Advisory Committee, National Advisory
Committee, Local Advisory Committee and Springer for their continuous motiva-
tion and support. We also like to extend our gratitude to reviewers who have worked
arduously in selecting high-quality papers and writing review reports.
Our special thanks to dignitaries who graced the inaugural function and the
keynote speakers who shared their experience. We would also like to thank the
session chairs for their valuable support in the smooth conduct of technical sessions.
We are also thankful to our management for guidance and liberal help for smooth
conduct and success of conference.
We feel proud to share that organizing team of ICRTE 2022 has done a professional
exercise in selecting the research papers and arranging them meticulously in technical
sessions.
ix
Contents
xi
xii Contents
Prof. Dr. Mohan Kolhe is Full Professor in smart grid and renewable energy at
the Faculty of Engineering and Science of the University of Agder (Norway). He is
Leading Renewable Energy Technologist with three decades of academic experience
at the international level and previously held academic positions at the world’s pres-
tigious universities, e.g., University College London (UK/Australia), University of
Dundee (UK); University of Jyvaskyla (Finland); Hydrogen Research Institute, QC
(Canada); etc. In addition, he was Member of the Government of South Australia’s
first Renewable Energy Board (2009–2011) and worked on developing renewable
energy policies. Due to his enormous academic contributions to sustainable energy
systems, he has been offered the posts of Vice-Chancellor of Homi Bhabha State
University Mumbai (Cluster University of Maharashtra Government, India) and
Full Professorship(s)/Chair(s) in ‘sustainable engineering technologies/systems’ and
‘smart grid’ from the Teesside University (UK) and Norwegian University of Science
and Technology (NTNU), respectively. He is Series Editor of Springer Proceedings
in Energy. His research works in energy systems have been recognized within the top
xv
xvi About the Editors
1 Introduction
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023 1
A. Khosla and M. Kolhe (eds.), Renewable Energy Optimization, Planning and Control,
Studies in Infrastructure and Control, https://doi.org/10.1007/978-981-19-8963-6_1
2 D. Murugesan et al.
from its standard nominal values. It expects an essential part in the power scheme
movement and restriction. To do the LFC/AGC an assistant controller is much
expected to all the power structures either, interconnected or autonomous power
system. In this way, countless researchers are arranged and execute an additional
controller to control the frequency deviation of the organization. While executing
the auxiliary PID controller, it takes more consideration about the frequency devia-
tion of the power framework. There are different diverse time area boundaries are in
the frequency deviation, settling time, top overshoot and pinnacle undershoot, and
rise time. By minimizing the consistent steady-state error of the frequency deviation
those boundaries are controlled and keep up with.
Gozde et al. [1] have proposed dynamic performance of thermal source frame-
work investigation with nonlinearity in terms of real power control application with
craziness-based particle swarm-optimized PI controller. Kulkarni et al. [2] exam-
ined with regards to fundamental structure cohort intelligence optimization methods.
Murugesan et al. [3] authors have inspected cohort intelligence based PID controller
structure in isolated and integrated thermal power system. In [4] one area, double
region, triple area, and four areas thermal power system framework with ant colony-
based PID controller planned and examination the framework execution distinc-
tive objective capacity. Murugesan et al. [5] explained concerning the combined
thermal power structure with a renewable source to reliant upon PIDD controller
using ant colony strategy. In [6], the execution investigation of AGC for two areas
reheats thermal interconnected plant framework is examined in the presence of
ABC algorithm-based PI and PID controller. Decentralized load frequency control
is formulated as multiple objective optimization problems using genetic algorithm
is presented for three area control with the help of PI controller in [7]. Parmar et al.
[8] have addressed the single region power framework involving reheat -thermal and
hydro units environment is examined for real power control with an optimal output
analysis controller.
In [9], authors have designed an ideal order control PID regulator for LFC in
multiple area power plant employing ITAE-based (ICA) Imperialist Competitive
Algorithm. The effect of composite objective enhancement utilizing ABC algorithm
on the frequency regulation for two areas interconnected reheats thermal power
framework has been done by Naidu et al. [10]. Mohanty et al. [11], demonstrated
fruit fly optimization algorithm for PIDD controller tuning is proposed to study the
robustness of the power framework. In [12], the authors examined the performance of
a Beta wavelet neural network optimized cascaded control mechanism in a two-area
interconnected assembly. In [13], it presents automatic gain control of hydrothermal
interconnected control system considering minority charge carrier inspired algorithm
would give better result under different loading condition of electrical governor
than the mechanical governor. Dahiya et al. [14] have noticed disruption operator
in gravitational search algorithm is used to enhance AGC problems of four areas
interconnected power system. It reveals that FOPID-based tuning gives superior
performance. In Pradhan et al. [15] LFC is analyzed means of best utilizing the
1 A Socio Inspired Technique in Nuclear Power Plant for Load Frequency … 3
unified power flow control and superconducting magnetic energy storage unit energy
(SMES) in tie line will improve the dynamic behavior of large-area power framework
utilizing firefly algorithm-based fuzzy PID controller. PID regulator for single region
nuclear power station in [16].
The proposed research work was accomplished well, and it is explained by the
accompanying areas as follows; Sect. 1 gives a sufficient show and composing review
about the proposed work. Section 2 explains the showcase of the proposed system
structure and the mathematical explanation of each block in the Simulink model.
Section 3 frameworks the arranging method of the PID controller with the pre-
owned cost work and clarifies the tuning procedures of traditional, Ziegler Nichols,
PSO, and CIO advancement strategies. Section 4 gives the result examination of the
proposed system and execution connection of standard ziegler Nichols, PSO, and
CIO tuned PID controller. Section 5 is about the finish of examination work with the
proposed strategy. Section 6 deals with the design parameters of proposed system in
appendix.
With concern, a nuclear power plant of the examined power framework is furnished
with a PID regulator. This controller is created in the nineteenth decade, and it is
broadly utilized in present-day ventures. The advantage of utilizing the PID controller
is in effect exceptionally modest and more adaptable. The arrangement of proposed
PID regulator is displayed in Fig. 2. The expression of the PID regulator is given in
Eq. (1)
G PID(s) = K P + K I S + K D S (or)
(1)
G PID(s) = K P (1 + 1/Ti S + TD S)
The error input to the controller is Area Control Error (ACE)/Figure of Demerit
(FOD) is given in Eq. (2), B and ΔF are the bias coefficient and change in frequency,
respectively.
∮t
dACE
UPID = K p · (ACE) + KI (ACE) dt + K D (3)
dt
0
The cost function determination with wanted specification and constraint is a more
difficult task. The decision of cost action to streamline controller values depends on
its action basis. These benchmarks are evaluated owing to the peak overshoot; peak
undershoots, rise time, and settling time.
The transient execution of the closed-loop framework can be measured by using
error functions such as Integral Square Error (ISE), Integral Time Absolute Error
(ITAE), Integral Time Square Error (ITSE), and Integral Absolute Error (IAE). These
cost functions are evaluated by using the following expression. The selection of
the above function as an objective function mainly depends on the performance
requirement values in terms of reduced time-domain parameters. The ISE gives
smaller overshoot and takes a longer time to settle, and IAE will take a smaller time
to settle with higher overshoot. The time-multiplying error criterion gives initial
oscillation and then settles quickly. Minimize the objective function subject to Eqs.
(4)–(6), respectively.
ITAE-based tuning makes the structure settle down a great faster than the other said
tuning strategies. ITAE model additionally gives the least peak overshoot. Then again,
the ITSE model-based regulator offers a huge regulator yield for the unexpected
change in reference esteem.
∮t
ISE = (ACE)2 |dt (4)
0
∮t
IAE = |ACE|dt (5)
0
∮t
ITAE = t · |ACE|dt (6)
0
Over the 1940s, numerous strategies have been produced for tuning the PID regulator
boundaries. In 1942, Ziegler and Nichols proposed two test ways to deal with rapidly
changing the regulator boundaries without knowing the exact powerful model of the
framework to change. In this paper, the second technique for Ziegler-Nichols is
utilized. It is a straightforward strategy to tuning PID regulator boundaries. The
determined PID regulator boundaries are given in Table 1.
In root locus, follow taken by the foundation of the traits condition when gain K is
changed from zero to unlimited quality. In the particular values k the root locus begins
to oscillate from the normal point. That point is considered as essential increment
Ku and individual period Tu. Those qualities can be accomplished by utilizing the
root locus method through attributes condition.
Table 2 Comparison of time-domain and controller gain parameters with different techniques
Technique ITAE Time-domain parameters FOD
KP KI KD tr (sec) USh (Hz) Osh ts (sec)
(Hz)
Conventional 0.11 0.13 0.09 9.2 − 0.0155 0.25 41.5 0.1315
Zigler 0.1638 0.28888 0.0232 1.07965 − 0.019 0.006 32 0.08728
Nichols
PSO 0.8085 0.986856 0.1889 0.71 − 0.0013 0.0015 45 0.01868
CIO 0.9626 0.6982 0.2547 4.1 − 0.0074 0.012 23 0.02951
The troop has a number of nominees where they wish to sustain in the troop out of
their own characteristic analysis, and each characteristic material is an unknown trait
being trained after continuous interaction with every other characteristic. Dependent
on one’s own characteristics, the trait development may be higher or sometimes
lower. The trait assessment will be qualified based on the idealization (higher ideal
and lower ideal). Idealization of the trait becomes higher only when the comparison
of traits follows higher idealness. This condition can sympathize only if lower trait
follows rather lower trait in order to obtain sustainability over its own troop. Once
an idealness over the singular trait is achieved, the trait is effective to meet the global
idealness on bringing sustained characteristics as its own trained idealness over the
entire troop.
The troop characteristics under training will undergo idealness over an environ-
ment only on sustaining the higher ideal over the entire troop on depicting the ideal-
ization throughout the solemn troop with respect to the environment of its own
concern. The system of the CIO technique can be summed up as follows.
Step 1: The controller gain esteems are viewed as quality of candidates c (c = 1, 2,
…C), reduction factor r, convergence factor E, during the time spent (ψ kp , ψ ki , ψ kd ).
These qualities (Kp, Ki, and Kd) are haphazardly delivered inside the reach that is
upper and lower search space.
Step 2: Quality is assessed for every one of the up-and-comers and is alluded to as
the cost function. On account of the control framework, the associated behavior of
each candidates is given below as
∮t
ITAE = C
t · |e(t)|dt (8)
0
8 D. Murugesan et al.
1/ITAEC
PC = ∑C c = 1, 2 . . . C (9)
(C=1) 1/ITAEC
Step 4: All the competitor utilizes a roulette wheel way to deal with follow quality
in the framework, and it works on the worth of its objective function by growing or
lessening the lower and upper limits of the boundaries
[ ∥( r )∥ ∥( r )∥ ]
∥ ∥ ∥ ∥
ψkp K PC − ∥ max(ψkp ) − min(ψkp ) ∥, K PC + ∥ max(ψkp ) − min(ψkp ) ∥
2 2
(10)
Step 5: The value of the cost function is expected to combine when the contrast
between the conduct of every candidates becomes inconsequential
∥ ( )n ( )n−1 ∥
∥ ∥
∥max ITAEC − max ITAEC ∥ ≤ ε1 (11)
∥ ( )n ( )n−1 ∥
∥ ∥
∥min ITAEC − min ITAEC ∥ ≤ ε2 (12)
∥ ( )n ( )n−1 ∥
∥ ∥
∥max ITAEC − min ITAEC ∥ ≤ ε3 (13)
The designed system transfer function is created using MATLAB Simulink software.
Table 2 disclosed the decision variables of the different techniques, CIO optimization
parameters, and dynamic system performance. The developed model is simulated
using CIO algorithm with simulation time of 120 s. Figure 3 clearly reveals that the
CIO-based PID controller concerned with ISE, and ITAE objective function settles
before 20 s for frequency supervision of nuclear power system.
The put forth conduction of PID is associated with the cohort intelligence opti-
mization strategy. Figure 4 displays the supremacy of dynamic performances by
analyzing the system to the proposed approach. The proposed evaluation of PSO,
Ziegler Nichols, and conventional-based PID inline with CIO-PID has a threshold
result (0–60 s) as mentioned in Fig. 4 for frequency deviation.
1 A Socio Inspired Technique in Nuclear Power Plant for Load Frequency … 9
0.001
0
-10 -0.001 0 10 20 30 40 50 60 70
-0.002
del F in (Hz)
-0.003
IAE
-0.004
ISE
-0.005 ITAE
-0.006
-0.007
-0.008
-0.009
0.01
0.005
0
del F in (Hz)
-10 0 10 20 30 40 50
-0.005
Time in (Sec)
Zigler Nichols - PID
-0.01
Conventional-PID
-0.015 PSO-PID
CIO-PID
-0.02
-0.025
It is visible that the Ziegler Nichols-based controllers give large damping oscilla-
tion and take huge time to settle with their nominal value compared to the proposed
CIO-PID controller, as for as conventional and PSO-based PID gives very dead
response with oscillations. Figure 5 bar chart comparison gives the settling time
observation of frequency monitoring in isolated nuclear power systems are given
in Table 2. It unveiled clearly that the cohort intelligence approach diminished
effectively oscillations in their response compared to PSO, Ziegler Nichols, and
conventional optimized controllers.
10 D. Murugesan et al.
50 45
41.5
40
32
30 23
20
10
0
Conventional Zigler Nichols PSO CIO
A one percentage step perturbation is forced in the proposed model and the comparing
execution list of Index and change a similar system for 2%,5%, and 10% step load.
the exhibition for the disturbed proposed framework is displayed in Fig. 6.
Affectability is the capacity of a framework to perform viably while its factors
are changed inside a specific passable reach. In this part, by fluctuating framework
boundaries from their nominal qualities (given in the informative appendix) in the
scope of ± 25 and ± 50% Table 3, obviously describe our proposed method will
function well to work on the exhibition of nuclear power frameworks based on time
domain parameters such as rise time (t r ), Overshoot desired (Osh), Undershoot (U sh ),
and settling time (t s ).
0.01
0
-5 0 5 10 15 20 25
-0.01
Time in (sec)
-0.02
Del F in (Hz)
1% SLP
-0.03 2% SLP
-0.04 3% SLP
4% SLP
-0.05
-0.06
-0.07
-0.08
5 Conclusion
In this article, a new method for real power control using cohort intelligence optimiza-
tion technique has been proposed to tune the secondary PID controller for real power
control of nuclear power framework. This ITAE-based cost function for cohort intel-
ligence techniques takes very lesser time to get optimize gain values by comparing
with conventional, Ziegler Nichols, and PSO technique. Also, the proposed procedure
gives better dynamic response parameters. In addition, the supremacy of the designed
plan is proved by applying distinctive loading conditions from one percentage to 10%
step load disturbance in the analyzed power system. The sensitivity investigation of
the PID controller based on the CIO technique remains unaltered even after wide
changes in the framework stacking condition by ± 25% and ± 50% framework
boundaries esteems. Consequently, the proposed CIO-streamlined PID regulator can
effectively ensure real power control despite variations in power generation and
demand.
Appendix
(a) The normal values of bounds of framework under study are shown below: Tp
= 20 s, B = 0.4312 Pu, T G = 0.08 s, K H1 = 2, T TR1 = 0.5 s, K R1 = 0.3, T RH1
= 7 s, T RH2 = 9 s, K P = 120 Hz/pu.
(b) The bounds of CIO are shown below: C = 3; N = 3; r = 0.97; E = 0.0001.
12 D. Murugesan et al.
References
Abstract This paper describes and analyzes the control of microgrid when it
becomes isolated. In most cases, the microgrid is connected to the grid and has
certain local loads. When a grid side anomaly occurs, the microgrid is isolated from
the main grid, which is designated as Microgrid in Islanded Mode. In these circum-
stances, the microgrid would have to be powerful enough to run reliably. For steady,
seamless, and unsupervised functioning of the microgrid in islanded operation, a
droop control, and a supervisory control are employed. In this research, a MATLAB
simulation of the control approach in island mode is performed, and the simulation
results are examined. Once the microgrid is in Islanding Mode, the findings demon-
strate that inverter-based DERs may effectively share electricity while ensuring a
stable functioning.
1 Introduction
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023 13
A. Khosla and M. Kolhe (eds.), Renewable Energy Optimization, Planning and Control,
Studies in Infrastructure and Control, https://doi.org/10.1007/978-981-19-8963-6_2
14 Md. Shahnawaz Chisty et al.
(DGs) into power systems in an efficient manner. For the deployment of a MG, its
stability and control issues are to be taken care of. Various efforts are being made to
design more efficient control methods in different types of control types and different
types of protection program to make a reliable, safe, and economical operations of
MG for its grid-connected as well as islanded mode of operation.
The need to reduce carbon emissions in the field of power generation, recent tech-
nological advancement in the field of micro power generation, and the restructuring
of the electricity sector are the key factors responsible for the increasing increase in
the use of micro power generation [1]. In reality, linking small-generation units of
less than a few 10 kW with low-voltage networks, improves the efficiency and relia-
bility potentially for users and brings various advantages for global system operation
by reducing cost for future grid strengthening and development. This conventional
power system model suffers significant technological and environmental drawbacks
such as power loss from long transmission lines, decreased capacity, costly and diffi-
culty in control, maintenance and global warming etc. On the other hand, distributed
generation (DG) located near the load center or user. Distributed generation is usually
a small-scale power generation unit capable of delivering electricity reliably and
safely with less environmental impact than the conventional electricity generation
system with low-cost electricity. The standard power generation capacities of small-
scale DG technologies ranging from a fraction of 1 kW to around 10 MW [2]. Some of
distributed energy resources are fuel cells, photovoltaic system, micro combined heat
and power, wind power systems, small-scale hydropower generation units, and so on.
Smart grid technologies now a day’s provide secure, reliable, efficient power with
a decentralized, user interactive and demand repressive manner by using various
technologies of modern era. It uses smart metering technology (AMI), consumer
participation (DSM) techniques, remote sensing technologies, network communi-
cation technologies etc. to operate more cooperatively and responsively [3, 4]. In
essence, it smartly integrates and manages various power system components to
enable electrical power systems to operate sustainably, securely, and economically.
Traditional large coal-based power plants operate as base load power plant allowing
for supply of base load demand. Diesel and natural gas generator-based generation
units are used as peak-load power plant to compensate for the peak load demand.
Thus the electric power system can ensure a balance between electricity generation
and demand. Renewable energy resources are main focus of DGs. Volatility and
intermittency effects associated with renewable energy resources based on DER.
Intermittency associated with renewable energy sources can effectively manage by
smart grid technologies such as use of energy storage system technique, demand
side response, and management techniques to compensate for any volatility associ-
ated with such distributed energy resources (DERs). Therefore, the smart grid tech-
nologies will allow an integrated management platform that incorporates various
power system tools and mitigate the effects of intermittency and volatility. In addi-
tion, smart grid infrastructure with continuous and real-time monitoring will provide
various information with real-time data to allow the DERs to function efficiently and
2 Seamless and Smooth Power Sharing, Voltage, and Frequency Control … 15
2 Microgrid Structure
There are mainly two control strategies adopted for controlling microgrid inverter
[22]:
The PQ control inverter in grid-connected mode is used for maintaining real and
reactive power according to the reference. With reference voltage and frequency of
main grid, inverter operates by a current controller along with power controller. The
voltage and current are transform into d q coordinate system. The grid voltage vector
is in d-axis orientation, then reference power produces the reference current. This
reference current and inverter output current produced the control signal for invert
and accordingly the real and reactive power output of inverter is controlled.
When the microgrid is in Islanded mode, the grid voltage, and frequency references
are not available for inverter then droop control inverter controls the microgrid. The
P/f and Q/V droop control scheme can be implemented for smooth power-sharing
control of all the inverters within the microgrid.
2 Seamless and Smooth Power Sharing, Voltage, and Frequency Control … 17
Islanding of the microgrid can occur through planned actions such as maintenance
requirements. Therefore, the MG’s local generation profile should be adjusted for
balancing the local load demand and generation. A voltage source inverter should act
like synchronous generator and control frequency and voltage during Islanded mode
through the droop control strategy. The grid-connected microgrid smoothly operates
as the frequency and voltage reference are available for PQ mode of operation of
inverters. When the MG is disconnection from the grid, all the PQ control inverter loss
their references and fails to operate which yields the failure of microgrid thus loss
for balancing load/generation, a droop control inverter is needed which regulates
frequency and voltage. With the help of voltage and frequency reference of VSI
inverter MG can stably and smoothly operate in Islanded mode [22].
Droop control technique is very common and well-known controlling method for
power sharing control of inverters in an Islanded Microgrid. Figure 2 shows an
inverter-based DER unit connected with PCC along with impedance, Z = R + jX.
The real and reactive power equation can be expressed as:
EV V2
P= cos(θ − φ)− cos θ (1)
Z Z
EV V2
Q= sin(θ − φ) − sin θ (2)
Z Z
where
E & V Inverter voltage & AC bus voltage (grid side)
φ Inverter side voltage angle
θ & Z Impedance angle & magnitude.
For lossless line, θ = 90° and Z = X so, the Eqs. 1 and 2 becomes
EV
P= sin φ (3)
X
V
Q= (E cos φ − V ) (4)
X
Considering, power angle φ is very small then sin φ and cos φ becomes sin φ ∼
=
φ and cos φ ∼
= 1.
Hence, Eqs. (3) and (4) can be written as:
XP
φ= (5)
EV
XQ
E−V ∼
= (6)
E
From Eqs. (5) and (6) it is clear that angle φ depends on active power and E-V
drop depends on reactive power. Thus, the frequency and voltage of the MG can be
control by P and Q adjustment. As the demand of real and reactive power increases,
the frequency and voltage amplitude reduces [25].
Thus, a droop-controlled inverter behaves as a virtual synchronous generator, and
voltage and frequency have inverse linear relation with reactive and active power
demand similar to the synchronous generator [26]
Figure 3 shows the steady-state frequency (f ) vs real power output (P) and output
voltage (V) vs reactive power (Q) droop characteristics.
Mathematically,
f = f 0 − k f P, Vref = V0 − kv Q (7)
where, P, Q & f are active power output, reactive power output & output frequency of
inverter respectively, V ref refers to common bus voltage. f 0 and V 0 are the no-
load/nominal frequency and voltage respectively. k f and kv are the frequency droop
coefficient and voltage droop coefficient respectivley.
The working of droop control: consider n sources are acting in a microgrid with
droop controller and all are in equilibrium. So, the frequency of all the sources
consider to be same. In this condition, the real power output of each source must
hold the following relation:
kf1 P1 = k f2 P2 = · · · = k f n Pn (8)
In general:
1
Pi ∝ , i ∈ [1, n] (9)
kf
Therefore, the total active load is shared by each source is equal to inverse
proportion of its frequency droop gain/coefficient [27].
According to active power requirement, the power angle δ of the inverter changes.
This rate of change of δ decides the output frequency set point. According to reac-
tive power requirement, the voltage value changes. The voltage first transform in
d q axis then passed through voltage and current controllers. While designing
current controller and voltage controller, the bandwidths of droop controller, voltage
controller, current controller, and PWM controller should be is in ascending order,
i.e., every stage should be slower than its succeeding stage [28, 29]. Considering f sw
and L f be the inverter switching frequency and filter inductance with very small filter
resistance Rf . Therefore, the design of current controller (k pi + k ii /s) is as follows:
ω Bv
k pv = C f ωBv , kiv = (11)
Rload
where ωBv = (2πf sw )/α 2 , the bandwidth of the voltage controller. Finally, the droop
controller is designed with a very low bandwidth range (2–15 Hz), i.e., the slowest
controller. Figures 5 and 6 shows the detailed and complete model of the inverter
with droop-controller [30].
Droop controller control the voltage and frequency of respective inverter according
to their droop and fixed set point references like voltage, frequency, real, and reactive
power references. From Eq. 7 the modified droop equation are as follows:
f = f 0 − k f (Pmeas − P0 ) (12)
where, the subscript ‘meas’ and ‘0’ indicates the measured/calculated value and the
no-load/nominal value
And these fixed references are unable to modify by droop controller so, whenever
the load fluctuation more or beyond the capacity of inverter then droop controller
fails to control the voltage and frequency. So, to resolve this issue a new control
technique along with droop controller should be implemented for smooth and stable
operation of microgrid inverter in Islanded mode.
In these situation new references for voltage and frequency is required for droop
controller thus requires a new controller design.
A supervisory controller as shown in Fig. 7 is designed to generate a new refer-
ences for voltage and frequency. It consists of frequency and voltage regulator.
Simplified mathematical expressions are as follows:
Ki Ki
f ref_New = f 0 K p + f 0 − f pcc K p − f pcc (14)
s s
K is Ki
Vref_New = V0 K p + V0 − V pcc K pv − V pcc (15)
s s
This controller modifies P/f and Q/V droop characteristics while maintaining the
same droop coefficient and sends it to each droop controller of respective inverter.
then voltage and frequency start decreasing and settled at some lower values. At 6 s
supervisory controller is enable and control all the inverter and settle the frequency
and voltage to its nominal values, i.e., 415 V and 50 Hz, repetitively.
6 Conclusions
In this paper, the droop along with supervisory control strategies is used for smooth
control all the three DERs in the Islanded microgrid to alleviate the effect load change.
Droop controller control the voltage and frequency of respective inverter according
to their droop and fixed set point reference like voltage, frequency, real, and reactive
power references. And these fixed references are unable to modify by droop controller
2 Seamless and Smooth Power Sharing, Voltage, and Frequency Control … 25
so, whenever the load fluctuation more than the droop controller fails to control and
manage the voltage and frequency within the stable limit. A supervisory controller
modifies reference voltage (E*) and frequency (f *) and sends it to each droop
controller of respective inverter and thus smoothly restored the frequency and voltage
of microgrid to its normal values. The proposed droop controller was implemented
with predefined set point and droop characteristics. The proposed droop controller
controlled the Islanded Microgrid effectively by tracking and balancing the real and
reactive power demand quickly and the proposed Supervisory comptroller acts as
a master and quickly restored the frequency and voltage to its nominal value. The
simulation results of PCC voltage, frequency, and power obtained from SIMULINK
platform.
References
1. Lasseter R et al (2022) White paper on integration of distributed energy resources. The CERTS
microgrid concept [Online]. Available http://certs.lbl.gov/pdf/LBNL_50829.pdf
2. Don D, Smith MA (2012) The U.S. Department of Energy’s Microgrid initiative. Electricity J
25:1, 3, 10, 11, 13, 84–94
3. U.S. Department of Energy (2010) The SMART GRID: an introduction. Tech. Rep., vol 2
4. Kempener R, Komor P, Hoke A (2013) Smart grids and renewables—a guide for effective
deployment. Tech. Rep., vol 2
5. Backhaus S, Swift GW, Chatzivasileiadis S, Tschudi W, Glover S, Starke M, Wang J, Yue M,
Hammerstrom D (2015) Dc microgrids scoping study—estimate of technical and economic
benefits. U.S. Department of Energy and Los Alamos National Laboratory, NM, Tech. Rep.
LA-UR-15-22097
6. Wang J, Lu X (2020) Sustainable and resilient distribution systems with networked microgrids.
Proc IEEE 108(2):238–241
26 Md. Shahnawaz Chisty et al.
30. Raman GP, Peng JC-H (2021) Filter deballasting control of droop controlled inverters. IEEE
Trans Power Electron 36(11):13,107–13,117
31. Raman GP, Peng JC-H (2020) Mitigating stability issues due to line dynamics in droop-
controlled multi-inverter systems. IEEE Trans Power Syst 35(3):2082–2092
Chapter 3
Genetic Algorithm for Economic Load
Dispatch with Microgrid to Save
Environment by Reduction of CO2
Emission
Abstract The continuous reduction in fossil fuel resources, the Distributed Gener-
ation Technologies have recently fascinated more attention. Microgrid technologies
are also employed to join such sources into the main network by pointedly enhancing
energy utilization through local production and load control. As a result, quality and
reliability have improved. Most of such network studies focus on operating and
investment expenses but ignore the environmental impact. An optimization model is
developed based on these two criteria to estimate the feasibility and environmental
involvement of microgrid. Renewable energy sources have a high penetration rate
in this model. The genetic algorithm is utilized to perform hourly optimizations on
microgrid in order to achieve environmental benefits as well as financial gains.
1 Introduction
The modern power generation system may consist of more than one generating unit.
These generating units may be integrated to provide power to a wide variety of
loads. Hence, it is essential to minimize the operating cost for all load schedules
for each generating unit [1]. Engineers across the world are concerned to develop
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023 29
A. Khosla and M. Kolhe (eds.), Renewable Energy Optimization, Planning and Control,
Studies in Infrastructure and Control, https://doi.org/10.1007/978-981-19-8963-6_3
30 L. Daniel et al.
products and services at the lowest cost possible. Efficient and economical operation
of electrical power generation and distribution is one such problem. Due to more and
more integration of electric networks and increasing energy crisis across the world,
the energy prices are ever rising. It is essential that we always look for the scope
of reducing the cost of energy even small savings represent a very significant cost
reduction. The optimum scheme in power system, generally, involved the deliberation
of economic processes, protection strategies, various gas emission with conventional
fuel plants, and optimum discharge of water at hydel power generation, etc. These
factors are mostly incompatible, and an optimum solution needs to be provided [2].
Along with cost, people, nowadays, are more concerned about environment impact
of power generation too [3]. Central Pollution Control Board (CPCB) must impose
strict and binding environmental regulations because of high contaminant and pollu-
tant gas liberate in the environment. Major pollutant gases include CO2 , SO2 , and
NO2 , which are mainly release, due to burning of fossil fuels. Hence along with
minimal cost of generation, pollutant emissions must also be minimized. To add cost
to this pollution, a parameter is added to cost function called price penalty factor.
Thus, balanced economic and emission dispatch (BEED) is a difficult issue to be
implemented by meeting the requirement of economic dispatch and fulfilling the
condition to decrease the pollutant elements. Along with fossil fuel-based gener-
ation sources, renewable sources are also gaining popularity. When power system
hybrid renewable sources with non-renewable sources, it must face many predictable
and unpredictable challenges. For example, wind energy is unexpected and non-
predictable in nature. According to research, wind power may contribute 10–40% of
total energy generation [4].
Distributed generation (DG) is one of the emerging technologies to meet the load
requirements with the distributed energy sources (DER), which also provide the
environmental benefits [5, 6]. The use of distributed generation (DG) in utility lines
and downstream of meters at low and medium voltages (MV and LV) is gaining
popularity in industrialized countries around the world. The economic potential of
DG applications was assessed at customer sites by utilizing locally available energy
sources such as waste heat recovery from primary fuel conversion, reciprocating
engine generators (gensets), gas turbines, microturbines (MTs), or fuel cells (FCs)
via small-scale combined heat power (CHP) equipment [7]. As a result, significant
progress has been made in the optimal usage of modest (kW-scale) CHP. To meet
future electricity demand, these systems, along with solar photovoltaic (PV) modules,
wind turbines (WTs), other modest renewable (such as methane digesters), heat
and electricity storage, and regulated loads must all play a substantial role. These
technologies were grouped together as distributed energy resources (DERs) [2].
In the power sector, the effective and optimal economic procedure and scheduling
of electric power generation arrangements have always played a significant role. The
recent restructuring of electricity utility, growing concern about environment and
system security require changes in the optimal planning and operational philosophy
of the power system networks. The optimal operation and planning of power system
networks have traditionally been viewed as a cost-benefit analysis. Most utilities
computer-aided dispatch centers use economic load dispatch (ELD) for this purpose.
3 Genetic Algorithm for Economic Load Dispatch with Microgrid to Save … 31
However, increased concerns about maintaining power quality and a clean environ-
ment have compelled power system engineers to explore additional objectives in the
optimal management of power systems, such as improving system voltage profiles
and reducing emissions dispatch.
Economic load dispatch (ELD) is a method of allocating generation levels to
the various producing units in a system in order to fulfill load demand in the most
cost-effective manner possible while respecting system and individual unit limits.
Economic load dispatch is critical for obtaining maximum usable power with the
least number of resources. Years ago, several solutions were used to solve the basic
challenge of economic dispatch for thermal systems.
Over the last several decades, there has been a lot of research into ELD opti-
mization models and algorithms. Artificial intelligence methods like genetic algo-
rithm (GA), chaos optimization algorithm (COA), and particle swarm optimization
(PSO) have been successfully used to solve ELD problems [5], in addition to tradi-
tional methods like equal incremental method, dynamic programming (DP), and
Lagrangian relaxation method (LR). However, if the number of generating units
grows dramatically, existing stochastic algorithms may suffer from the curse of
dimensionality, increasing the difficulty of optimizing calculations as well as the
time it takes to complete them. As a result, traditional load optimal dispatch methods
cannot be used in large-scale load dispatch optimization issues right once. Although
linear programming is quick and accurate, it approximates cost functions in piecewise
form. As a result, the output answer’s optimality cannot be guaranteed. Similarly, the
complexity and convergence problem plague the non-linear programming technique.
Although this strategy can solve specific types of economic load dispatch problems,
it cannot solve large-scale problems and take too long to produce results. Tech-
niques based on derivation, such as the Lagrangian methodology, are also disliked.
Because of the non-differentiable nature of restrictions, these strategies are unable
to take into consideration operational constraints such as ramp rate, banned zones,
and valve-point effects [8]. The mathematical character of the problem, in general,
makes it impossible for analytical mathematic methodologies to address it prop-
erly. Soft computing approaches such as artificial neural networks, fuzzy logic, and
genetic algorithms have surpassed conventional methods in terms of finding similari-
ties between vast sets of data and synthesizing system models for non-linear, partially
unknown, and noisy systems. Soft computing techniques, which take their cues from
biological systems and are modeled to resemble the human mind, offer efficient solu-
tions to tough inverse issues. Soft computing guiding idea is to take advantage of
imprecision, ambiguity, and partial truth tolerance to produce tractability, resilience,
and low-cost solutions [9]. Due of their flexibility, ability to perform effectively under
unknown conditions, and speed considerations, soft computing solutions are being
proposed here.
This work proposed genetic algorithm (GA) for economic load dispatch. Due to
GA’s versatility and efficiency, a global optimization model known as the genetic
algorithm has proven itself as a choice for so many optimization applications,
according to reference [10]. It is a search algorithm with a high probability of
success. This technique was created by John Holland (1975). GA is an example of
32 L. Daniel et al.
2 Objective Function
Objective function includes the formulation of cost equation, CO2 emission equation,
revenue equation, and constraint equation. J1 represents cost optimization equation
and is given by following Eq. (1)
Σ
N
( ∗ )
J1 = A ∗ X + ai + bi ∗ xi + ci xi2 (1)
i=1
The cost covers the cost of power acquired from the upstream grid as well as
the cost of production by various distributed generating sources in the microgrid. A
represents open market energy prices, X represents active power purchased from the
upstream grid, N represents the total number of DG units in the microgrid, and X i
3 Genetic Algorithm for Economic Load Dispatch with Microgrid to Save … 33
represents the generating power of the ith DG source, while ai , bi , and ci represent
cost coefficients in e/h, ect/kWH, and ect/kWH2 , respectively. J2 represents CO2
emission and is calculated according to the following Eq. (2).
Σ
N
( )
∗
J= αi Pi (2)
i=1
This Eq. (2) calculates the total CO2 emissions in Tons from all DGs on an hourly
basis. N is the total number of DGs, α i is the CO2 emission coefficient of the ith DG
in tn/MWh, and Pi is the power generated by the ith unit in MWh. Now, objective
function is combinedly given by the Eq. (3)
J = ω1 J1 + ω2 J2 (3)
Σ
N Σ
N
( )
∗ ∗
J3 = Income−Expenses = A xi − ai + bi xi + ci xi∧ 2 (4)
i=1 i=1
For proper functioning of the system, three constraints are taken into consideration
for different scenarios.
A minimum and maximum boundary range of power generated by all DG sources
are Pmin and Pmax, respectively. This can be shown below
Here, Pmin,n is the minimum power that must be generated by the nth DG, while
Pmax,n is the maximum power that can be generated by the nth DG.
If a microgrid is unable to sell electricity back to the upstream grid, the total power
generated by DG sources plus power purchased from the upstream grid must equal
the total load demand. It is given by Eq. (6). Hence,
Σ
N
X+ Pi = Pdemand (6)
i=1
If a microgrid is permitted to sell electricity back to the upstream grid, the total
power generated by DG sources plus power acquired from the upstream grid must
be more than the total load demand. It is given by Eq. (7). Hence,
Σ
N
X+ Pi ≥ Pdemand (7)
i=1
3 Network Description
As described in [13], a case study network has been chosen and is depicted in Fig. 1.
Low voltage (LV) network with three feeds was chosen as the study case network. An
industrial load is fed by the first feeder. The second one serves a mix of commercial
and residential customers. The third, on the other hand, caters to a domestic consumer.
The third feeder, which functions as a microgrid, contains one microturbine (MT)
unit, one fuel cell (FC) unit, and photovoltaic cells (PVs).
It also chose four situations for simulations, which are as follows:
1. Scenario 1: In this scenario, we assumed that the entire load requirement is met by
purchasing from the upper grid. This scenario is being used to calculate savings
from microgrid installation as a comparison case. This is considered a reference
scenario.
3 Genetic Algorithm for Economic Load Dispatch with Microgrid to Save … 35
2. Scenario 2: In this scenario, the microgrid’s running costs are minimized. There
is no consideration for the environment. Furthermore, if microgrid generates
excess electricity, it is unable to sell it to the upstream grid.
3. Scenario 3: This scenario featured the environmental impact scenario, which
involved lowering both cost and CO2 emissions by allocating a cost to CO2
emissions.
4. Scenario 4: This is the same as scenario 3, except that the microgrid’s excess
electricity can be sold to the upstream grid.
Electrical loads on the power plants frequently change, but their values are mostly
predictable. Load demand is mainly dependent on the weather conditions and follows
a similar pattern day to day. So that these continuous changes are easily predictable.
Optimization can be conducted on an hourly, daily, and monthly base.
The Fig. 2 shows the load demand monthly basis for the year. In this daily load
curve, the maximum value and minimum value for the load are 222.7 and 46.3 kW
considered, respectively, for the simulation. The analyzed data is taken from reference
[13]. The power factor for the stated electrical load is presumed as 0.95. Table 1 shows
cost coefficients for fuel cell and microturbine units.
Installed capacity for connected DG units is taken as the data given in Table 2.
More data can be referred to in references [13, 14].
All DG units are supposed to function on a unity (cos Φ = 1) power factor. The
main grid’s CO2 emission coefficient is 1.1tn/MWh. The CO2 coefficients for fuel
cell and microturbine are 0.4894 tn/MWh and 0.7246 tn/MWh, respectively.
For the grid, it is assumed that the lowest power purchased from the grid is zero
(Pmin = 0), and there is no limit for highest power. A simulated network can take as
much as power it requires to fulfill the load demand from the grid. Most of the data
are taken from the Hellenic Operator Electricity Market [15].
Simulation results are presented according to the scenarios with genetic algorithm
methods. Cost is calculated for each scenario, and comparative analysis has been
done for the purchase cost from main grid, CO2 emitted through the main grid, CO2
emitted through the microgrid, CO2 cost for main grid and microgrid both, revenue
generated when microgrid sells power to the main network.
Table 3 shows the load shared by each microgrid unit and main grid for different
scenarios. For scenario 1 which is the reference scenario, load demand is fulfilled
by the main grid only. When moving to scenario 2, fuel cell, microturbine, and PVs
also introduced and share the load demand. The drop in load demand from main grid
is 33.81% in scenario 2. Slight change in scenario 3 is noticed, but in scenario 4, it
is 34.25%.
Each scenario’s annual cost is computed as indicated in Fig. 3. For the reference
scenario, the annual cost for the allocated load is 93,833.57 Euros. When the load is
allocated to FC and MT units in scenario 2, the noticeable cost cut is 33.81 percent
with economic dispatch rules. Annual savings of roughly 31,616.33e can be achieved
by using scenario 3. In scenario 3, the cost rises by a small amount, to 115. 34e.
When the system is operated for scenario 4, the maximum load is shared by DGs,
resulting in significantly lower power purchases from the main grid than in scenarios
2 and 3.
If we look at the CO2 computation using GA, the CO2 emitted from the main
grid in scenario 1 is 1146.9 tons, according to the graph as shown in Fig. 4. To
meet the load demand in scenario 1, just the main grid is supplied. As a result, the
CO2 level is at its highest in this scenario. Changes in CO2 emissions in scenarios
2 and 3 are 387.8 tons and 386.4 tons per year, respectively. Scenario 3 has a slight
increase in emissions since the consequences of CO2 emissions are factored into the
Table 3 Yearly load shared by the main grid and DG units for each scenario
Scenario Main grid (kW) FC (kW) MT (kW) PVs(kW)
Scenario 1 1042.5 0 0 0
Scenario 2 690.01 120.07 87.94 144.55
Scenario 3 691.30 120.11 89.78 141.38
Scenario 4 685.44 121.35 90.49 145.30
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XVII.
Kunnioitettava herra!
"Mielipuoli englantilainen."
"Englantilainen?"
"Rigobert! Rigobert!"
"Francis — ja sukunimi?"
Peilini oli lähellä. Silmäys peiliin vakuutti minua siitä, ettei kukaan
ymmärtäväinen nainen voinut pitää englantilaista minua parempana.
Itseluottamukseni palasi. Kiiruhdin englantilaisen luo.
"Minä suutelen kaikkia kauniita eläimiä", sanoi hän, "enkö ole teitä
suudellut?"
"Rigobert! Rigobert!"
"Entä sitten?"
Tallista tuli väkevä haju. Rouva Fairbank piti liinaa nenänsä edessä
ja meni pois pihasta pohjoisen portin kautta, jota tietä kuljettiin
puutarhaan ja asuinhuoneisiin. Minä sain käskyn seurata häntä ja
tohtoria. Kun parahiksi oli päästy jonkun matkan päähän tallista,
alkoi rouva Fairbank taasen kysellä minulta. Hän ei ottanut
uskoakseen, ettei mitään ollut tapahtunut hänen poissaollessaan.
Minä vastasin hänelle miten paraiten taisin ja tohtori seisoi nauraen
vieressämme. Sillä tavoin kuluivat minuutit, kunnes kello löi kaksi.
Nyt sanoi rouva Fairbank tahtovansa käydä englantilaista katsomassa
hänen kamarissaan. Suureksi mielihyväkseni tohtori yritti saada
hänet luopumaan tästä aikeesta.
Jäätyäni yksin, päätin minä, koska minulla oli puolen tunnin aika,
saattaa naisen kylään ja sitten palata talliin ottamaan pois kapulan
sekä siteet Francis'ilta ja antaa hänen huutaa täyttä kurkkua. En
pitänyt lukua vaikka hän olisi herättänyt koko talon, sittenkun olin
päässyt vapaaksi ystävättärestäni, joka saattoi aiheuttaa minulle
harmia.
Joosef Rigobert.
*****
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