Optimal AGC of A Power System Incorporated BESS-EHVAC/DC Link Using Evolutionary Techniques
Optimal AGC of A Power System Incorporated BESS-EHVAC/DC Link Using Evolutionary Techniques
Corresponding Author:
Ashwini Kumar
Department of Electrical Engineering, School of Engineering, Gautam Buddha University
Greater Noida, 201310, Uttar Pradesh, India
Email: [email protected]
1. INTRODUCTION
Frequency should be remained constant for the progressive power systems. Qualitative power
supply can be accomplished via the support of AGC for multi-area interconnected power systems with
assorted energy sources. Exigence of power supply without perturbation in frequency stands worldwide,
when load perceives from its delineated extent with perturbation, the status of the system could undergo
alteration from standard to aberrant situation. AGC should distinguish the digression in frequency and
retained it to untiring system frequency.
As the devotion of allied power systems must be equalized amid generated powers with entire load
mandate along with system deficits. If driving point swing the system frequency can departs, amassed reason
exhibits biased power in the exchange of areas, outcome may detrimental consequence [1]−[3]. Study of
proportional-integral-derivative (PID) done [4] with two areas AGC and operating source like hydro, gas and
thermal. Genetic algorithm (GA) was used for augmenting the gain of integral squared error (ISE) in
combination of integral time absolute error (ITAE). Author had worked for two area system under distinctive
usual loading situations with 1% step load disruption. The genetic algorithm and PID controller optimized for
various cases. Ramakrishna and Bhatti [5] worked for generation rate constraint (GRC) and governor dead
band (GDB) in AGC with differential evolution algorithm-based power system thru non-linearity.
Ramakrishna and Bhatti [5] developed AGC with a proportional-integral-derivative (PID) for
thermal, gas sources and hydro source including nominal loading conditions which was optimized with GA.
Mohanty et al. [6] developed the differential evolution algorithm for AGC with non-linearity. For [7] worked
for Type-1 fuzzy-PID controller (T1FPID), T2FPIDF & T2FPID and standard PID controller for AGC. Babu
and Saikia [8] developed for AGC incorporated with HVDC and energy storing units in a deregulated by
using of performance index HPA-ISE. Also, the justification was done [9] for AGC.
Arya et al. [10] utilized for THG power systems. In [11] worked the parallel combination of AC/DC
links for AGC with reheat thermal turbines as optimized with GA. BESS used with AGC [12], and [13]
considered for improvement in AGC. In [14] system was analyzed for a minor load disruption and the
comparative outcomes were demonstrated for different power transactions also used a performance index
based using a finite nonlinear optimization. Rahman et al. [15] developed a robust droop control scheme for
BESS to hinder the deviation of frequency in multi-machine grid power system with active power supplied
from PV panel. Kail et al. [16] proposed the effect of DFIG-based WEC in AGC also its dynamic response is
reduced by area control error. The optimization techniques have been used for AGC [17]−[24] as to augment
the firmness of power system also review work has done by [25].
For this research article the following objectives have been investigated with input parameter and
results justified by MATLAB/Simulink: i) Design and development of mathematical model of multi-area
power system with diverse energy sources; ii) Modify the proposed model with parallel EHVAC/DC-links
and BESS; and iii) To investigate proposed power systems model using conventional PI controller, GA and
particle swarm optimization (PSO) techniques.
B stands for frequency bias parameter. For the transfer function; frequency-domain analysis is used in the
model for all module of the area. The turbine is epitomized by the transfer function given as (2),
∆PT (s) 1
𝐺𝑇(𝑠) = = (2)
∆PV (s) 1+ sTT
with Elgerd [2] the transfer function denoted for governor is as (3).
∆PV (s) 1
𝐺𝐺(𝑠) = = (3)
∆PG (s) 1+sTG
The speed governing system has two contributions 𝛥𝑓 and 𝛥𝑃𝑟𝑒𝑓 with 1 yield 𝛥𝑃𝐺(𝑠) given by [2] following:
1
𝛥𝑃𝐺(𝑠) = ΔPref(s) - Δf (s) (4)
R
The load and generator are epitomized by the transfer function as [2] follows:
KP
𝐺𝑃(𝑠) = (5)
1+sTP
1 2𝐻
where 𝐾𝑃 = and 𝑇𝑃 = .
𝐷 𝑓𝐷
The generator load system has 2 inputs 𝛥𝑃𝐷(𝑠) and 𝛥𝑃𝑇(𝑠) with 1 output 𝛥𝑓(𝑠) given by [2]
following:
The simulation diagram of transfer function representation for proposed two area power system is depicted in
Figure 1. A brief discussion on individual generating station has been carried out and critically demonstrated
in this section:
- Thermal unit: The reheat based thermal plant is developed with integrating various individual units’
governor, reheat turbine and non-reheat turbine.
ΔP (s) 1
V
𝐺𝑜𝑣𝑒𝑟𝑛𝑜𝑟 𝑚𝑜𝑑𝑒𝑙𝑖𝑛𝑔 = 𝐺𝐺(𝑠) = = (7)
ΔP (s) Tg s +1
G
ΔP (s) K r Tr s + 1
T
𝑇𝑢𝑟𝑏𝑖𝑛𝑒 (𝑟𝑒ℎ𝑒𝑎𝑡) 𝑚𝑜𝑑𝑒𝑙𝑖𝑛𝑔 = 𝐺𝑇(𝑠) = = (8)
ΔP (s) Tr s +1
V
ΔP (s) 1
T
𝑇𝑢𝑟𝑏𝑖𝑛𝑒 (𝑛𝑜𝑛 − 𝑟𝑒ℎ𝑒𝑎𝑡) 𝑚𝑜𝑑𝑒𝑙𝑖𝑛𝑔 = 𝐺𝑇(𝑠) = = (9)
ΔP (s) Tt s +1
V
- Hydro unit: The hydro system is modelled with various individual components.
ΔP (s) 1
V
𝐺𝑜𝑣𝑒𝑟𝑛𝑜𝑟 𝑚𝑜𝑑𝑒𝑙𝑙𝑖𝑛𝑔 = 𝐺𝐺(𝑠) = = (10)
ΔP (s) Trh s+1
g
ΔP TR s+1
V1(s)
𝐷𝑟𝑜𝑜𝑝 𝑚𝑜𝑑𝑒𝑙𝑙𝑖𝑛𝑔 = 𝐺𝐷(𝑠) = = (11)
ΔP (s) Tgh s+1
V
- Gas Unit: The individual components of gas unit are modelled as:
ΔP (s) a
g
𝑉𝑎𝑙𝑣𝑒 𝑚𝑜𝑑𝑒𝑙𝑙𝑖𝑛𝑔 = 𝐺𝑉(𝑠) = = (13)
ΔP (s) bg s + cg
P
ΔP (s) Xc s + 1
s
𝐺𝑜𝑣𝑒𝑟𝑛𝑜𝑟 𝑚𝑜𝑑𝑒𝑙𝑙𝑖𝑛𝑔 = 𝐺𝐺(𝑠) = = (14)
ΔP (s) Yc s +1
g
ΔP (s) −Tc s + 1
R
𝐶𝑜𝑚𝑏𝑢𝑠𝑡𝑖𝑜𝑛 𝑚𝑜𝑑𝑒𝑙𝑙𝑖𝑛𝑔 = 𝐺𝐶(𝑠) = = (15)
ΔP (s) Tf s +1
s
ΔP 1
CD(s)
𝐶𝑜𝑚𝑝𝑟𝑒𝑠𝑠𝑜𝑟 𝑚𝑜𝑑𝑒𝑙𝑙𝑖𝑛𝑔 = 𝐺𝐶𝑂(𝑠) = = (16)
ΔP (s) Tcd s +1
R
Figure 1 explored by [4]. The simulation model of EHVAC-DC link with AGC model is derived by
Abazari et al [12]. Integration of battery energy storage system (BESS) to AGC model is also referred
from [12]. The input data for proposed system [10]:
Also, for EHVAC/DC [4]: Tdc = 0.25; Kdc = 1; and for is BESS [12]: Tcbs = 0.2.
Int J Pow Elec & Dri Syst, Vol. 14, No. 3, September 2023: 1322-1330
Int J Pow Elec & Dri Syst ISSN: 2088-8694 1325
While designing a controller, a fitness function is first idea established on description and confines. Control
tactics are ISE, ITAE, integral time square error (ITSE), and integral of absolute error (IAE). Ali and Abd-
Elazim [13] deliberated ITAE as a fitness function (an objective function). Similar fitness function is
appraised in this manuscript for proposed system. The constraints of PI controller can be elevated applying
GA, PSO or GWO algorithm devoting as a fitness function (J s) as specified in equation as below:
where the deviation in frequency is noted by Δf1 and Δf2 , Also the incremental change in tie line power flow
thru ΔPTie.
EHVAC-DC link
Area-1
KDC
1+sTDC
1
R1 Thermal unit 1
B1
- 𝟏 𝟏 𝐊 𝐫 𝐓𝐫 𝐬 + 𝟏 -
𝐓𝐠 𝐬 + 𝟏 𝐓𝐭 𝐬 + 𝟏 𝐓𝐫 𝐬 + 𝟏 KT1
+
+ +
Hydro unit -
PI
+
- 𝟏 𝐓𝐑 𝐬 + 𝟏 −𝐓𝐖 𝐬 + 𝟏 KP1
PI 𝐓𝐫𝐡 𝐬 + 𝟏 𝐓𝐠𝐡 𝐬 + 𝟏 𝟎. 𝟓 𝐓𝐖 𝐬 + 𝟏
KH +
+ 1+sTP1
Controller + 1
Gas unit 1
+ PS- 1
+
𝐗𝐜 𝐬 + 𝟏 𝐚 −𝐓𝐜 𝐬 + 𝟏 𝟏
- KG
𝐘𝐜 𝐬 + 𝟏 𝐛𝐠 𝐬 + 𝐜𝐠 𝐓𝐟 𝐬 + 𝟏 𝐓𝐜𝐝 𝐬 + 𝟏 +
1
+
2πT12
s
Area-2 _
α12 𝟏 𝐊 𝐫 𝐓𝐫 𝐬 + 𝟏
- 𝟏
𝐓𝐠 𝐬 + 𝟏 𝐓𝐭 𝐬 + 𝟏 𝐓𝐫 𝐬 + 𝟏 KT2 α12
+
+
-
+ - 𝟏 𝐓𝐑 𝐬 + 𝟏 −𝐓𝐖 𝐬 + 𝟏
PI KH +
𝐓𝐫𝐡 𝐬 + 𝟏 𝐓𝐠𝐡 𝐬 + 𝟏 𝟎. 𝟓 𝐓𝐖 𝐬 + 𝟏 +
+ 2
+ KP2
PI 1+sTP2
Controller +
𝐗𝐜 𝐬 + 𝟏 𝐚 −𝐓𝐜 𝐬 + 𝟏 𝟏 +
- KG
𝐘𝐜 𝐬 + 𝟏 𝐛𝐠 𝐬 + 𝐜𝐠 𝐓𝐟 𝐬 + 𝟏 𝐓𝐜𝐝 𝐬 + 𝟏 1
2 PS-2
+
-
B2
1
1
R2
1+sTcbs
BESS
Figure 1. Multi-area thermal, hydro and gas plant (THG) model incorporating with EHVAC/DC-link and BESS
4. OPTIMIZATION TECHNIQUES
Optimization techniques are a dominant set of tools for solving difficult real-world problems. The
application field has matured diverse in recent years, covering almost all engineering and science disciplines.
Optimization problems usually have three essential basics. The main is a solitary statistical measure, or
objective function, that is to be amplified or abated. Another element is a set of variables, which are sizes
whose standards can be manipulated in mandate to enrich the objective. The third element of an optimization
difficulty is a set of limitations, which are boundaries on the costs that the variables can take.
Start
Prepare the data of power system, parameters of PSO, size of swarm and maximum iteration
Arbitrarily initialize the particles with position (xi) and velocity (vi)
Run the system model and estimate the predefined fitness function f(xi) of each particle
Pick the best fitness, set the related result as old global best (g best, old) and set the initial population (xi) as old local best
(p best, old)
Calculate the fitness f(xi, new) of each newly generated particles, recognize the best solution, set it as new global best
(g best, new) and update the local best founded on the operation of xi, new and xi
Yes No
Is g best, new execution
Update g best Keep previous g best
better?
No
Is maximum iteration
attained?
Yes
End
Int J Pow Elec & Dri Syst, Vol. 14, No. 3, September 2023: 1322-1330
Int J Pow Elec & Dri Syst ISSN: 2088-8694 1327
Start optimization
No
Select a pair of chromosomes
Yes
No
End? Replace old population
Yes
End optimization
Stop
Table 1. Settling time, Undershoot and Overshoot for model with inclusion of BESS & EHVAC/DC–link
with 1% SLP
Parameter Settling time (sec) ST Undershoot US (-ve) Overshoot OS
PI GA PSO PI GA PSO PI GA PSO
THG ∆ F1 (Hz) 5.5 4 2.6 0.038 0.036 0.0365 0.011 0.009 0.005
∆ F2 (Hz) 5.3 3.5 2.8 0.042 0.033 0.0335 0.0105 0.005 0.003
∆ P Tie (p.u. 7.00 4.64 2.8 0.007727 0.004976 0.00498 0.0009027 0.001113 0.0009214
MW)
BESS ∆ F1 (Hz) 4.802 2.1 1.88 0.03779 0.02832 0.03157 0.007794 0.01441 0.02088
∆ F2 (Hz) 5.082 2.1 1.9 0.04264 0.0111 0.02622 0.007542 0.008211 0.01044
∆ P Tie (p.u. 6.602 2.997 2.434 0.007682 0.00333 0.008869 0.0006032 0.0004364 0.002821
MW)
EHVAC/DC- ∆ F1 (Hz) 9.64 5.323 4.329 0.01356 0.01433 0.01398 9.512×10-4 0.002049 0.002043
link ∆ F2 (Hz) 9.624 5.523 4.329 0.009909 0.00846 0.01102 7.176×10-4 0.002244 0.001914
∆ P Tie (p.u. >10 5.523 4.329 0.9997 1 1 0.1979 0.2476 0.1182
MW)
5.2. Test case: b (result of AGC-THG for BESS & EHVAC/DC-link with PI controller)
This test has been verified with Figure 6. Which shows the frequency deviance in area-1 and area-2;
also Figure 7 show the result of deviation in tie line power, for GA and PSO. Results of Ts, Us/Os and Js for
test system AGC – THG-PI (with 1% SLP with PSO) has been shown in Table 2.
Table 2. Results of Ts, Us/Os and Js for test system AGC – THG-PI (with 1% SLP with PSO)
Controller type Ts (s) |Us| |Os| (Hz) |Os| Js
|Us| (Hz)
(puMW) (puMW)
∆ F1 ∆ F2 ΔPtie ∆ F1 ∆ F2 ΔPtie ∆ F1 ∆ F2 ΔPtie
AGC-THG-PI with 2.6 2.8 2.8 0.0365 0.0335 0.00498 0.005 0.003 0.0009214 0.81
PSO
DE: PID [6] 6.87 6.89 4.40 0.0193 0.0154 0.0042 2.6×10–3 1.8×10–3 1.4×10–4 n/a
hBFOA-PSO: PI [17] 14.22 15.32 11.05 0.0321 0.0330 0.0085 0.0101 4.2×10–3 2.6×10–4 0.3948
0.02
PI
GA tuned PI
0.01
PSO tuned PI
F 1 (Hz)
-0.01 For 1% SLP in Area-1
(a)
-0.02
-0.03
-0.04
0 1 2 3 4 5 6 7 8 9 10
Time (s)
0.02
PI
0.01 GA tuned PI
PSO tuned PI
0
F 2 (Hz)
-0.01
(b)
-0.02
-0.04
-0.05
0 1 2 3 4 5 6 7 8 9 10
Time (s)
Figure 4. Frequency response for (1% SLP) in THG system with GA and PSO, (a) in area-1 and (b) in area-2
-3
x 10
2
0
PI
P tie (p.u.)
-2 GA tuned PI
PSO tuned PI
-4
-8
0 1 2 3 4 5 6 7 8 9 10
Time (s)
(a)
(b)
Figure 5. Tie-line power flow deviation in THG system for PI (1% SLP): (a) with GA and PSO and
(b) simulation picture
Int J Pow Elec & Dri Syst, Vol. 14, No. 3, September 2023: 1322-1330
Int J Pow Elec & Dri Syst ISSN: 2088-8694 1329
0.02
0.01
F 1 (Hz)
(a) -0.01 PI
PSO tuned PI
PSO tuned PI with BESS
-0.02 PSO tuned PI with EHVAC/DC- link
-0.03
-0.04
0 1 2 3 4 5 6 7 8 9 10
Time (s)
0.02
0.01
0
F 2 (Hz)
-0.01 PI
(b) PSO tuned PI
-0.02 PSO tuned PI with BESS
-0.04
-0.05
0 1 2 3 4 5 6 7 8 9 10
Time (s)
Figure 6. Frequency response of (1% SLP) in THG system for BESS & EHVAC/DC-link with PSO tuned PI:
(a) in area-1 and (b) in area-2
-3
x 10
2
PI
PSO tuned PI
0 PSO tuned PI with BESS
0.2 PSO tuned PI with EHVAC/DC-link
P tie (p.u.)
-2
0.1 0.5
-4 0 0
-0.1 -0.5
-6
0 .5 1 1.5 2 2.5 0 2 4 6 8 10
-8
0 1 2 3 4
Time (s)
Figure 7. Tie-line power flow deviation (Δ Ptie p.u.MW) in THG system for BESS and EHVAC/DC-link with
PSO tuned PI
6. CONCLUSION
A successful analysis of AGC in multi-area interconnected sundry energy sources of power system
is well synthesized in this article. This work specially focused on evolutionary techniques-based PI
controllers for tie-line power flow and frequency of the power system under altered operating conditions.
This article also reveals the design of controllers using evolutionary techniques like GA and PSO for AGC in
multi-area power system for optimal dynamic results. The utilization of BESS and EHVAC/HVDC link is
also investigated and verified in the proposed model. The anticipated model has been examined with 1% SLP
through MATLAB/Simulink software platform. All the dynamic results justified the ascendency of the PSO
tuned PI controllers over other tested controllers in all studies.
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BIOGRAPHIES OF AUTHORS
Ashwini Kumar is currently pursues Ph.D in Electrical Engineering Department
from School of Engineering, Gautam Buddha University, Greater Noida, Gautam Buddha Nagar,
U.P. India. He has fine experience in teaching and research field of electrical engineering. He can
be contacted at email: [email protected].
Omveer Singh has more than 17 years of experience in teaching as well as research
and development. He achieved his Ph.D. (Power Systems) from Faculty of Engineering and
Technology, Jamia Millia Islamia (NAAC A++ Grade, A Central University), New Delhi, India.
Currently, he is working as an Assistant Professor (Senior Scale) in Dept. of Electrical
Engineering, School of Engineering, Gautam Buddha University (Established by Government of
Uttar Pradesh), Greater Noida, Uttar Pradesh, India. He has diversified research interests and
teaching experience of the subjects of Power Systems, Renewable Energy Sources, Electric
Vehicles and Artificial Intelligence. He can be contacted at email: [email protected].
Int J Pow Elec & Dri Syst, Vol. 14, No. 3, September 2023: 1322-1330