EC6030

Power Systems
Power System Control
N.Kopisank
ar

1
 Controls
(Overview on Turbine Governor Controls)

• Objective: generate and deliver power in an interconnected power system as

economically and reliably while maintaining the frequency and voltage within
permissible limits.
Real power change (P) System frequency (f)
Reactive power change (Q) Voltage
magnitude (|
V|)
• Load Frequency Control (LFC) loop controls P and f.
• Automatic Voltage Regulator (AVR) loop regulates Q and |V|

• Controllers are set for a particular operating condition and take care of small
changes in load demand to maintain the f and |V| within the specified limits.

• The cross-coupling between LFC and AVR loops is negligible. The two loops can
be analyzed independently.

2
 7.2. Power System
Controls
• Objectives: maintain reasonably
(Overview uniform Governor
on Turbine frequency. Controls)
divide the load between the generators control the
tie-line interchange schedules

3
[H. Saadat, “Power System Analysis”]
7.2.2 Generator Turbine Governor Control
(Block diagram of the control systems)
• Generator Model:
Swing equation under small-disturbances:
2𝐻 𝑑2
= ∆𝑃𝑚 −
∆𝛿
𝜔0 ∆𝑃𝑒
𝑑𝑡 2
∆𝜔 1 𝑑 ∆𝛿
= 𝜔0 𝑑𝑡
𝑑 1
∆𝜔𝑑 = − ∆𝑃 2𝐻 ∆𝑃𝑚
𝑡 1 𝑒
𝑠∆𝜔 𝑠= ∆𝑃𝑚 𝑠 − ∆𝑃𝑒
2
𝐻 𝑠

∆𝑃𝑚 1 ∆𝜔
𝑠 2𝐻𝑠 𝑠
+
-

∆𝑃𝑒
𝑠
4
 7.2.2 Generator Turbine Governor Control
(Block diagram of the control systems)

• Load Model:
• The load on a power system consists of variety of electrical devices.
• Loads can be modeled in different ways: constant power, constant current, constant admittance, ZIP,
frequency-sensitive load
• Load-frequency characteristics can be approximated by;
∆𝑃𝑒 = ∆𝑃𝐿 + 𝐷∆𝜔
∆𝑃𝐿 = 𝑛𝑜𝑛 − 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑠𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑒
𝑙𝑜𝑎𝑑 𝑐ℎ𝑎𝑛𝑔𝑒
𝐷∆𝜔 = 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑠𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑒 𝑙𝑜𝑎𝑑
𝐷
𝑃𝑒𝑟𝑐𝑒𝑛𝑡𝑐ℎ𝑎𝑛𝑔𝑒
𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 ∆𝑃𝐿
=
𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
𝑃𝑒𝑟𝑐𝑒𝑛𝑡 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑙𝑜𝑎𝑑 𝑠
∆𝑃 1 ∆𝜔
-
𝑚
𝑠 2𝐻𝑠 𝑠
+
-

𝐷 5
7.2.2 Generator Turbine Governor Control
(Block diagram of the control systems)

• Prime Mover Model:

• Source of mechanical power, prime mover, may be hydraulic turbines or steam
turbines in conventional power systems.

∆𝑃𝑚 to changes in valve position ∆𝑃𝑉.

• The turbine model relates changes in mechanical power output

• Different turbine types vary widely in characteristics.

1
∆𝑃𝑉 ∆𝑃𝑚
1 + 𝑟𝑇𝑠
𝑠 𝑠

1st Order nonreheat steam turbine

∆𝑃𝑚 1
𝑠 =
𝐺� 𝑠 = ∆𝑃𝑉
�
1+
𝑠 𝑟𝑇𝑠
6
 7.2.2 Generator Turbine Governor Control
(Block diagram of the control systems)
• Governor Model:
Scenario – Load increase from the steady-state value ∆𝑃𝐿 >
• 𝑃𝑒 > 𝑃𝑚 → ∆𝑃𝑚< 0 0
•Power deficiency is supplied by the kinetic energy stored in the
rotating system.
•The turbine speed and the generator frequency fall due to
reduction in kinetic energy.
•Change in speed is sensed by the turbine governor and adjusts
the turbine input valve to change the mechanical power output to
bring the speed to a new steady-state value.
• Watt governor
•Earliest governor.
•Senses the speed by means of rotating flyballs and provides mechanical motion
in response to speed changes. 7
 7.2.4 Generator Turbine Governor Control
(Modelling the droop control system)
Governor droop mode operation

∆
• Slope of the curve represents the speed regulation.
𝑅 𝜔
∆
=
8
 7.2.4 Generator Turbine Governor Control
(Modelling the droop control system)
• If two or more generators with dropping characteristics are connected to a power system, there will be a

𝑓 𝑓
unique frequency at which they will share a load change.

(𝐻𝑧) (𝐻𝑧)

𝑓
0 ∆𝑓

𝑓
′

𝑃 𝑃 𝑃 𝑃
� �

′1 ′2
� �
1 2

Unit 1 Unit 2
∆ ∆
∆𝑃1 = 𝑃′1 − 𝑃1𝑓= ∆𝑃2 = 𝑃′2 − 𝑃2𝑓
1 2
∆𝑃1 =
𝑅 𝑅
, 𝑅2
9
7.2.3 Generator Turbine Governor
Control
(Modelling the control systems)

For synchronous generators the speed – mechanical power

relationship could be approximated to a linear relationship by the
inclusion of governors
This is known as speed-droop characteristics

The linear relationship is given by

Change in output
power

Change in
Change in Change in the frequency
input mech. reference power Regulation
Power setting constant 10
7.2.3 Generator Turbine Governor
Control
(Governor Representation)

1
• The speed governor mechanism acts as a comparator.

∆𝑃𝑔 𝑠= −
∆𝜔 𝑠
∆𝑃𝑟𝑒𝑓 𝑠 𝑅
• The governor command is transformed through the amplifier to the turbine to
change the valve position.

1
∆𝑃𝑉 𝑠 ∆𝑃𝑔 𝑠 [𝒂𝒔𝒔𝒖𝒎𝒆 𝒂 𝒇𝒊𝒓𝒔𝒕 𝒐𝒓𝒅𝒆𝒓
1+ 𝑔
= 𝑟 𝑠 𝒓𝒆𝒍𝒂𝒕𝒊𝒐𝒏𝒔𝒉𝒊𝒑]

∆𝑃𝑔 1
� 𝑠 ∆𝑃𝑉
∆𝑃𝑟𝑒 1 + 𝑟𝑔𝑠
+
𝑓
� - 𝑠

1
∆𝜔
𝑅 𝑠 11
7.2.2 Generator Turbine Governor
Control
(Block diagram of the control systems)

Turbine Governor model

Value Mech.
Govern position Turbin power Generat
+_
or e or

Operation:
Rotating speed of generator/turbine is measured and compared
Valve position is changed based on the difference
Flow (steam, water, gas) in to the turbine is changed
Mechanical power input is changed
12
 7.2.3 Generator Turbine Governor
Control
(control systems)

∆𝑃𝐿
𝑠

∆𝑃𝑔 ∆𝑃𝑉
∆𝑃 ∆𝑃 ∆𝜔
𝑟𝑒
𝑠 1 𝑠 1
𝑚
1
𝑠 𝑓 𝑠 𝑠
-
1+ 1 + 𝑟𝑇𝑠 2𝐻𝑠
+ +
𝑟𝑔𝑠
-
+𝐷

1
𝑅

∆𝑃𝑟𝑒𝑓→ 0
• Assume constant reference power

∆𝜔 𝑠 = 1 + 𝑟𝑔𝑠 1 +
−∆𝑃 2𝐻𝑠 + 𝐷1 + 𝑟𝑔𝑠 1 + 𝑟 𝑇 𝑠
𝑟 𝑠
𝑠 𝑇�
�

+ 1/
�
� 13
7.2.3 Generator Turbine Governor
Control
∆𝑃
(Load–Frequency
• Assume a step load change.Control of an Isolated Power System)

𝑠 = 𝑠
𝐿
∆𝑃
1+ 1+ ∆𝑃
�

∆𝜔 𝑠 𝑟𝑇 𝑠 −
�

= 2𝐻𝑠 + 𝑟
𝐷𝑔𝑠 𝑔 1+𝑟 � 𝑠
𝐿�

1+𝑟 𝑠 + 1/
�
�
• Steady-state value of ∆𝜔 =
�
�

∆𝜔𝑠𝑠 ∆𝜔𝑠𝑠 = lim = lim

∆𝜔 𝑡 ∞
𝑡→ 𝑠∆𝜔 𝑠
𝑠→0
∆𝜔𝑠𝑠 = 1
𝐷+ �
−∆𝑃𝐿
1/
• When several generators with governor speed regulations 𝑅1, 𝑅2, ⋯ , 𝑅𝑛
�

1
are connected to the system, the stead-state deviation in frequency is given
∆𝜔𝑠𝑠 =
𝐷+ 𝑅 +1𝑅 +⋯+ 𝑅
by;
−∆𝑃𝐿 /
1/ 1 2
1/ 𝑛 14
 7.2.3 Generator Turbine Governor
Control
𝜏𝑇 = 0.5 𝑠, 𝜏𝑔 = 0.2 𝑠, 𝐻 = 5 𝑠, 𝑅 =
• Simulate the system for 0.2 pu load increase. (Example)

0.05 𝑝𝑢, 𝐷 = 0.8

15
7.2.3 Generator Turbine Governor
Control
• Change in load results in change in (AGC)
speed before the governor adjusts the input
corresponding to the new load.

• Droop controlled governor action results in a constant steady-state speed with

an offset.
• The speed or frequency can be restored to the nominal value using an
integrator (the integral unit monitors the average error over a
period of time and overcomes the offset).

• Automatic Generation Control (AGC)

• As the system load changes continuously, the generation is
adjusted
automatically to restore the frequency to the nominal value.

• Assumption:
• System is assumed to be stable and steady-state is achievable.
• During large transient disturbances and emergencies, AGC is bypassed and
other emergency controls are applied.
16
 7.2.3 Generator Turbine Governor
Control ∆𝑃 𝐿

∆𝑃𝑔 ∆𝑃𝑉 𝑠
∆𝑃 ∆𝑃
(AGC)
𝑟𝑒
1 𝑠 1
𝑚 ∆𝜔
𝑠 𝑓 𝑠 𝑠 1
𝑠
-
1+ 1 + 𝜏𝑇 𝑠 2𝐻𝑠
+ +
𝜏𝑔𝑠
-
+𝐷

1
𝑅

𝐾𝐼
𝑠

∆𝑃𝑟𝑒𝑓 = −𝐾𝐼 ∫ ∆𝑓 𝑑𝑡

• The polarity of the integral control action is selected as negative so as to ensure

an appropriate signal to the speed changer (a positive frequency error
should generate a negative or decrease command). 17
 7.2.3 Generator Turbine Governor
Control
• Coherent groups of generators: (AGC in Multi-Area systems)
A group of generators which are closely coupled internally and swinging in unison.
Such generator turbines tend to have the same response characteristics.

• Control area:
A coherent group can be referred to as a control area.
The LFC loop can represent the control area.
A power system can be considered as a number of LFC areas interconnected by
means of tie-lines.

by a lossless tie line with reactance 𝑋𝑡𝑖𝑒.

• Scenario: two areas represented by an equivalent generating unit interconnected

𝑋1 𝑋1
𝑋2
𝐸1∠ 𝐸2∠
2

𝛿1 𝛿2

18
 7.2.3 Generator Turbine Governor
Control
(AGC in Multi-Area systems)

𝐸1
𝑃1 sin 1
=2 𝐸2
𝑋1 𝛿 2
𝑋12 = 𝑋1 + 𝑋𝑡𝑖𝑒 𝛿12 = 𝛿1
𝑑𝑃12 2
𝐸1 − 𝛿2
∆𝑃 +
= 𝑋2, | ∆𝛿 = 𝑐𝑜𝑠 12, ∆1
𝑑𝛿1 𝐸2
1 1
2 2 𝑋 𝛿 0 1 𝛿2
𝐸1 𝐸2
𝛿12,0

𝑐𝑜𝑠
2
∆𝑃12 = 𝑃𝑠 ∆𝛿1 − ∆𝛿2 , �
2
12,
𝑃 𝑋12 𝛿 0

• Tie line power=appears as a load increase in one area and a load decrease in the
�

other area, depending on the direction of the flow.

∆𝛿1> ∆𝛿2 → 𝑃𝑜𝑤𝑒𝑟 𝑓𝑙𝑜𝑤𝑠 𝑓𝑟𝑜𝑚 𝑎𝑟𝑒𝑎 1 𝑡𝑜 𝑎𝑟𝑒𝑎 2

19
 7.2.3 Generator Turbine Governor
Control
1 systems)
(AGC in Multi-Area
𝑅1 ∆𝑃𝐿1
𝑠
∆𝑃𝑉1 ∆𝜔1
∆ 𝑟𝑒𝑓 � ∆𝑃
1 𝑠 1
𝑚
1 𝑠
𝑃 𝑠 1
- -
1
1+ 1 + 𝜏𝑇1𝑠 2𝐻1𝑠
�+ +
𝜏𝑔1𝑠 + 𝐷1
-

𝑃𝑠
∆𝑃
+
1
𝑠 2 𝑠 -
∆𝑃𝑉
∆ 𝑟𝑒𝑓 � ∆𝑃
1 𝑠 1
𝑚
1 ∆𝜔2
𝑃2 𝑠 2
𝑠
+
1+ 1 + 𝜏𝑇2𝑠 2𝐻2𝑠
�+ +
𝜏𝑔2𝑠
- -
+ 𝐷2
∆𝑃𝐿2
1 𝑠
𝑅2 20
7.2.3 Generator Turbine Governor
Control
(AGC in Multi-Area systems)
• Scenario: Load change in area 1 ∆𝑃
𝐿1 the same frequency deviation.
∆𝜔1 = ∆𝜔2 = ∆𝜔
• In steady-state, both areas will have

∆𝑃𝑚1 − ∆𝑃12 − ∆𝑃𝐿1 = 𝐷1∆𝜔

∆𝑃 + ∆𝑃12 = 𝐷2∆𝜔
• Change in𝑚2mechanical power is determined by the governor speed characteristics.
∆𝜔
∆𝑃𝑚1 = ∆𝜔, ∆𝑃𝑚2 = −
�1
− 2
� ∆𝑃 ∆𝑃
𝑅
∆𝜔 = =
− 𝐵𝐿1
1 1 2 −
𝐿1
𝑅 +𝐷 𝑅
1
1
+ 𝐵2
1+
1 2+ 𝐷
1
𝐵1 +
�1 𝐵2 = 2
= 𝐷 1, 𝑅
𝑅1
+𝐷 2 𝐿+ 𝐷2 𝐵
�
∆𝑃12 = 1 = ∆𝑃
1
1
∆𝑃 1 2+
+
− � 1 𝐷1
+ 2
�2
2
− 𝐵 𝐿1

�+ � 2𝐷 𝐵
21
7.2.3 Generator Turbine Governor
Control
(Example)

Two-area system connected by a tie line has the following parameters on a 1000
MVA common base.
Area 1 2
Speed regulation 𝑅1 = 0.05 𝑅2 = 0.0625
Frequency sensitive load coefficient 𝐷1 = 0.6 𝐷2 = 0.9
Inertia constant 𝐻1 = 5 𝐻2 =4
Base power 1000 𝑀𝑉𝐴 1000 𝑀𝑉𝐴
Governor time constant 𝜏𝑔1 = 0.2 𝑠 𝜏𝑔2 = 0.3 𝑠
Turbine time constant 𝜏𝑇1 = 0.5 𝑠 𝜏𝑇2 = 0.6 𝑠

The units are operating in parallel at the nominal frequency of 60 Hz. A load change
of 187.5 MW occurs in area 1. Assuming the synchronizing power
coefficient 22