Sateesh Kumar Vavilala et al Int. Journal of Engineering Research and Applications www.ijera.

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ISSN : 2248-9622, Vol. 4, Issue 1( Version 3), January 2014, pp.156-160

RESEARCH ARTICLE OPEN ACCESS

Load Frequency Control of Two Area Interconnected Power

System Using Conventional and Intelligent Controllers
Sateesh Kumar Vavilala*, R S Srinivas **, Machavarapu Suman ***
*(Department of Electrical and Electronics Engineering, VLITS, Vadlamudi)
**(Department of Electrical and Electronics Engineering, ANU, Guntur)
*** (Department of Electrical and Electronics Engineering, VLITS, Vadlamudi)

ABSTRACT
The load on the power system is always varying with respect to time which results in the variation of frequency,
thus leading to load frequency control problem (LFC). The variation in the frequency is highly undesirable and
maximum acceptable variation in the frequency is ± 0.5hz. In this paper load frequency control is done by PI
controller, which is a conventional controller. This type of controller is slow and does not allow the controller
designer to take into account possible changes in operating conditions and non-linearity’s in the generator unit.
In order to overcome these drawbacks a new intelligent controller such as fuzzy controller is presented to quench
the deviations in the frequency and the tie line power due to different load disturbances. The effectiveness of the
proposed controller is confirmed using MATLAB/SIMULINK software. The results shows that fuzzy controller
provides fast response, very less undershoot and negligible peak overshoots with having small state transfer time
to reach the final steady state.
Keywords – PI controller, Fuzzy controller, Two area power system, load frequency control, MATLAB
SIMULINK

I. Introduction frequency. Even though most of the AC drives are

In order to keep the system in the steady- not much affected for a frequency variation of even
state, both the active and the reactive powers are to 50±0.5Hz but there are certain applications where
be controlled. The objective of the control strategy is speed consistency must be of higher order. The
to generate and deliver power in an interconnected electric clocks are driven by synchronous motors and
system as economically and reliably as possible while the accuracy of these clocks is not only a function of
maintaining the voltage and frequency with in frequency error but is actually of the integral of this
permissible limits. error. If the normal frequency is 50Hz, and the
Changes in real power mainly affect the turbines are run at speeds corresponding to frequency
system frequency, while the reactive power is less less than 47.5Hz or more than 52.5Hz the blades of
sensitive to the changes in frequency and is mainly the turbine are likely to get damaged. Hence a strict
dependant on the changes in voltage magnitude. Thus limit on frequency should be maintained [1] . The
real and reactive powers are controlled separately. system operation at sub normal frequency and
The load frequency control loop (LFC) controls the voltage leads to the loss of revenue to the suppliers
real power and frequency and the automatic voltage due to accompanying reduction in load demand [13]
regulator regulates the reactive power and voltage .It is necessary to maintain the network frequency
magnitude [11]. Load frequency control has gained constant so that power stations run satisfactorily in
importance with the growth of interconnected parallel.
systems and has made the operation of the The overall operation of power system can
interconnected systems possible. In an interconnected be better controlled if a strict limit on frequency
power system, the controllers are for a particular deviation is maintained. The frequency is closely
operating condition and take care of small changes in related to the real power balance in the overall
load demand to maintain the frequency and voltage network. Change in frequency [2-6], causes change in
magnitude within the specified limits [12]. speed of the consumers’ plant affecting production
processes.
II. Reasons for keeping frequency
constant
The following are the reasons for keeping
strict limits on the system frequency variations. The
speed of AC motors is directly related to the
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ISSN : 2248-9622, Vol. 4, Issue 1( Version 3), January 2014, pp.156-160

Ptie1 ( pu)  T12 ( 1   2 )......... .......... 4.2

III. Mathematical Modeling
3.1 Complete Block Diagram Representation of V1V2 0 0
Load Frequency Control of an Isolated Power Where T 12 = P X cos(δ 1 - δ 2 ) …………..4.3
r 1 12
System.
The complete block diagram representation is a synchronizing coefficient. Since incremental
of an isolated power system comprising turbine,
generator, governor and load is obtained by power angles are integrals of incremental
combining the block diagrams of individual frequencies, we can write above equation as follows
components. ∆Ptie1= 2πT12 (∫∆f1 dt- ∫∆f2 dt) …………………4.4
 PD Where ∆f1 and ∆f2 are incremental frequency changes
Ps
Pref (S)  PV  Pm
 Pg
of areas 1 and 2 respectively. Similarly, the
1T * s
1 1
2H s  D
1
1  Tsg s
incremental tie-line power out of area 2 is given by
∆Ptie2= 2πT21 (∫∆f2 dt- ∫∆f1 dt) …………………4.5
Governor Turbine Rotating mass

=  Pr 1 
and load

 T12
1 Where T = a T 12
 Pr 2 
R 21 12 ………...….4.6
Fig 3.1 Block Diagram Representation of Load The power balance equation for area 1 is given by,
Frequency Control of an Isolated Power System

PG1  PG 2  (f1 )  Bf  Ptie ,1 ...4.7

2H1 d
IV. 4. Two Area Load Frequency control f0 dt
An extended power system can be divided
into a number of load frequency control areas Taking the Laplace form of the above equation and
interconnected by means of tie-lines. Let us consider arranging them we get,
a two-area case connected by a single tie-line.
Let
F ( s )  [ PG1 ( s )  PG 2 ( s )  Ptie1 ( s )] *
K ps1
1  Tps1 s
1 2 ...4.8

Tie Line
Control Control Area 0
Area 1 2
K = 1/B and T = 2H 1 / B 1 f
ps, 1 1 ps, 1

2T12
Fig 4.1 Two Area with Tie-Line Connection Also,
Ptie1 ( s )  [F1 ( s )  F2 ( s )].....4.9
2a12T12
s
The control objective is now to regulate the
frequency of each area and to simultaneously regulate Ptie 2 ( s )   [F1 ( s )  F2 ( s )].....4.10
s
the tie-line power as per inter-area power contracts.
In two-area power system [14-17], inorder that the
As in the frequency, proportional plus integral
steady state tie line power error be made zero,
controller will be installed so as to give steady state
another integral control loop must be introduced to
error in tie-line power flow[7-10] as compared to the
integrate the incremental tie-line power signal and
contracted power.
feed it back to the speed changer. This is
Each control area can be represented by an
accomplished by defining ACE as a linear
equivalent turbine, generator and governor system.
combination of incremental frequency and tie-line
Symbols with suffix 1 refer to area 1 and those with
power. Thus, for control area 1,
suffix 2 refer to area 2. In an isolated control area
ACE1=∆Ptie1+b1∆f1 ..................................4.11
case the incremental power (∆PG-∆PD) was accounted
Taking the Laplace transform of the above equation,
for by the rate of increase of stored kinetic energy
we get
and increase in area load caused by increase in
ACE1(s) =∆Ptie1+b1∆F1(s)……………………4.12
frequency. Since a tie-line transports power in or out
Similarly, for control area 2,
of an area, this must be accounted for in the
ACE2(s) =∆Ptie2+b2∆F2(s)……………………4.13
incremental power balance equation of each area.
The complete block diagram of two-area
Power transported out of area 1 is given by

Ptie1  1 2 sin  1   2 ....................4.1

load frequency control is shown below. For the
V V steady state error to be zero, the change in tie-line
X12 power and the frequency of each area should be zero.
Where, δ1, δ2 are power angles of equivalent This can be achieved by integration of ACEs in the
machines of two areas. For incremental changes in δ1 feedback loops of each area.
and δ2 , the incremental tie line power can be
expressed as
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ISSN : 2248-9622, Vol. 4, Issue 1( Version 3), January 2014, pp.156-160

controllers and also with FUZZY controller. The

V. Different types of controllers
following are the specifications of simulation.
5.1 PI controller
For Control Area 1

A controller in the forward path, which
changes the controller output corresponding to the Gain of speed governor K sg = 1

proportional plus integral of the error signal is called
Gain of turbine K t = 1
PI controller. The PI controller increases the order of


the system, increases the type of the system and
reduces steady state error tremendously for same type Gain of generator load K ps = 120

of inputs.
Time-constant of governor T sg = 0.08
5.2 Fuzzy controller  Time-constant of turbine T t = 0.28

In control systems, the inputs to the systems
are the error and the change in the error of the Time-constant of generator load T ps = 18
feedback loop, while the output is the control action. For Control Area 2
The general architecture of a fuzzy controller is  Gain of speed governor K sg =1
depicted in Fig 5.3[1]. The core of a fuzzy controller is
a fuzzy inference engine (FIS), in which the data  Gain of turbine K t =1

flow involves fuzzification, knowledge base
evaluation and defuzzification. Gain of generator load K ps =100
 Time-constant of governor T sg =0.1
 Time-constant of turbine T t =0.28
 Time-constant of generator load T ps =20
The simulation block diagrams and their results are
as follows.

Fig 5.1 Structure of fuzzy logic controller

Two Area Load Frequency Control with PI controller

0
Area1
Change in Frequency(hz)

Area2
-0.5

-1

-1.5

-2
0 2 4 6 8 10 12 14 16 18 20
Time(sec)

Fig 6.1 Response of two-area LFC without controller

Now the simulation is done with controllers.

The results are as follows.
Two Area load frequency Control with PI controller
0.3
Area1
0.2
Change in Frequency (hz)

Area2
Fig 5.2 Complete block diagram of two- area LFC 0.1

0
VI. 6. Simulation results of two-area LFC -0.1
6.1 Two-area LFC without and with PI -0.2
Controllers
The two-area LFC is also implemented 0 5 10 15 20 25
Time(sec)
30 35 40 45 50

using MATLAB SIMULINK with and without PI Fig 6.2 Response of two-area LFC with PI controller

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6.2 Simulation using FUZZY Controller Table.2 Comparison between PI and Fuzzy
controllers
With
Without With PI
Fuzzy
Area Parameter any Cont-
Cont-
controller roller
roller
Peak
1.8 0.07 0.05
Overshoot (hz)
1
Never settles
Settling down to
7 3
Time(sec) steady state
Fig 6.3 Simulation block diagram of Subsystem value
Peak
1.75 0.09 0.07
Overshoot (hz)
Never settles
2
Settling Time down to
17 5
(sec) steady state
value

6.3 Observations of Two-Area LFC

The steady state error in the response of
Fig 6.4 Fuzzy inference system for two area fuzzy two-area LFC with PI controller is almost zero when
controller compared with the response obtained without
02 controller. Comparing Fig 6.1, 6.2 it can be seen that
Table 1. Rules for two area fuzzy controller the performance using PI controller is better than that
of not using any controller. From Fig 6.5 it is
observed that by using FUZZY controller, the steady
e
state error, settling time and peak-overshoot are
NB NS ZZ PS PB
reduced which is preferred.
NB S S M M B
NS S M M B VB
VII. CONCLUSION
e ZZ M M B VB VB
The system frequency should be maintained
PS M B VB VB VVB
constant and it will be undesirable if the limits
PB B VB VB VVB VVB exceed. In order to maintain the frequency constant
Two Area Load Frequency control with fuzzy controller
and to make the steady state error zero, we used
0.5 different types of controllers like PI and FUZZY in
Area1 our paper. By using these controllers, the steady state
Change in Frequency(hz)

Area2 error, settling time and peak-overshoot are reduced.

Also the performance is compared between the
controllers. From the observations in the previous
0
sections, it can be concluded that performance of
Multi-area Load Frequency Control using FUZZY
controller is much better than that of PI controller
because by using PI controller, only the steady state
-0.5 error is reduced but by using FUZZY controller,
0 2 4 6 8 10 12 14 16 18 20
Time(sec)
settling time and the peak-overshoot are also reduced.
The frequency change can also be reduced by using
Fig 6.5 Response of two-area LFC with FUZZY
other advanced techniques. Some of those techniques
controller
are Particle Swarm Optimization (PSO) method,
Genetic Algorithm method, using Artificial Neural
Network (ANN)[5] method.

REFERENCES
Journal Papers:
[1] P.V.R.Prasad, Dr.M.SaiVeeraju “Fuzzy
Logic Controller Based Analysis of Load

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ISSN : 2248-9622, Vol. 4, Issue 1( Version 3), January 2014, pp.156-160

Frequency Control of Two Area Gaines (eds.), (London: Academic Press,

Interconnected Power System” IJETAE, 1981).
Volume 2, Issue 7, July 2012. Proceedings Papers:
[2] EI-Metwally K.A, “An adaptive fuzzy logic [16] Sathans.S, Swarup.A “Intelligent Load
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[3] G.Karthikeyan, S.Ramya, Dr IEEE International Conference on 3-5 June
.Chandrasekar” Load frequency control for 2011, 360 – 365.
three area system with time delays using [17] Oysal .Y, Koklukaya .E, and Yilmaz, .A.S.
fuzzy logic controller” IJESAT,2012, “Fuzzy PID controller design for load
Volume-2, Issue-3, 612 – 618. frequency control using gain scaling
[4] Surya Prakash, S.K. Sinha, “Load frequency technique”. Powertech Conference
control of three area interconnected hydro- Proceedings. Budapest, Hungary 1999.
thermal reheat power system using artificial
intelligence and PI controllers “ Sateesh Kumar Vavilala has completed
[5] Chaturvedi .D.K, Satsangi .P.S., Kalra .P.K, his B.E. from Sir CR Reddy College of
Load frequency control: a generalized neural Engineering, Eluru affiliated to Andhra
network approach. Int J Electric Power University and his M.Tech(
Syst., vol. 21, pp.6-415,1999. Instrumentation and Control Systems) from NIT
[6] Djukanovic .M, Novicevic .M, Sobajic .D.J, Calicut. He is currently working as Assistant
Pao .Y.P, Conceptual development of Professor in the Department of Electrical and
optimal load frequency control using Electronics Engineering, VLITS, Vadlamudi. His
artificial neural networks and fuzzy set areas of research include Intelligent Control Systems,
theory. Int J Eng Intell Syst Electr Eng Multi Machine Stability of Power Systems, and DC-
Commun.vol..3, pp.2-108, 1995. DC Converters.
[7] Kocaarslan I., and Cam E, fuzzy logic
controller in interconnected electrical R S Srinivas has completed his B.Tech
Power system for load-frequency control, from Siddaganga Institute Of Technology
Int.J.of Electrical systems under Bangalore University and he
[8] Jaleeli .N, Vanslyck .L.S, Eward .D.N, Fink obtained his M.Tech (Power Systems)
.L.H, Hoffmann .A.G “Understanding from Bharath Engineering College Under Anna
Automatic generation control”. IEEE Tran University. Presently he is pursuing Ph.D at Acharya
power systems 1992; 7(3): 1106-12. Nagarjuna University. He is currently working as
[9] Ismail H. Altas, Jelle Neyens “A Fuzzy assistant professor in Department of EEE in ANU,
Logic Load-Frequency Controller for Power Guntur. His areas of interest are Power System
Systems, IJEST, April 26-27, 2006. Stability, Reactive Power Compensation and
[10] Pan C.T., Liaw .C.M. “An adaptive developing of Intelligent Controllers
controller for power system LFC”. IEEE
Transpower systems 1989, 4(1), 122-8. Machavarapu Suman has completed his
Books: B.Tech from Gudlavalleru Engineering
[11] Kundur P, “Power system stability and college, Gudlavalleru and
control”(McGraw-Hill, NewYork 1994). M.Tech(Power Electronics and Power
[12] D. P. Kothari and I. J. Nagrath “Modern Systems) from Koneru Lakshmaiah
power system analysis” (4th edition, Tata college of engineering, Vaddeswaram. He is
McGraw Hill Education 2011). currently working as Assistant Professor in the
[13] Wood .A.L and Wollenberg .B.F “Power Department of Electrical and Electronics
Generation Operation and control”, (2nd Engineering, VLITS, Vadlamudi. Presently he is
Edition, John Wiley and Sons, New York, pursuing Ph.D at JNTUK, Kakinada. His areas of
1996). research include Power System Stabilizers,
[14] Elgerd .O.I. “Electrical energy systems Evolutionary Algorithms, Intelligent Techniques and
theory: An introduction”, (2nd edition, Power System Stability.
McGraw –Hill: 1971).
[15] .J.F. Baldwin,”Fuzzy logic and fuzzy
reasoning,” in Fuzzy Reasoning and Its
Applications, E.H. Mamdani and B.R.

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