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Abstract
In this paper an optimal load-frequency controller for a nonlinear power system is proposed. The mathematical model of the power system consists of one area with several power plants, a few concentrated loads and a transmission network, along with simplified models of the neighbouring areas. Firstly, a substitute linear model is derived, with its parameters being identified from the responses of the nonlinear model. That model is used for load-frequency control (LFC) algorithm synthesis, which is based on discrete-time sliding mode control. Due to a non-minimum phase behaviour of hydro power plants, full-state feedback sliding mode controller must be used. Therefore, an estimation method based on fast output sampling is proposed for estimating the unmeasured system states and disturbances. Finally, the controller parameters are optimized using a genetic algorithm. Simulation results show that the proposed control algorithm with the proposed estimation technique can be used for LFC in a nonlinear power system.
U radu se predlaže optimalna regulacija frekvencije i djelatne snage razmjene za nelinearni elektroenergetski sustav. Unutar matematičkog modela sustava jedno se regulacijsko područje sastoji od nekoliko elektrana, manjeg broja koncentriranih trošila i prijenosne mreže. Ostala su regulacijska područja u modelu modelirana pojednostavljeno, nadomjesnim linearnim modelom sustava čiji su parametri dobiveni identifikacijom iz odziva nelinearnog sustava. Taj je linearni model zatim primijenjen u sintezi algoritma sekundarne regulacije koji je zasnovan na kliznom režimu upravljanja. Zbog neminimalno-faznog vladanja hidroelektrana primijenjena je struktura regulatora zasnovana na svim varijablama stanja sustava. Estimacija nemjerljivih stanja i poremećaja zasnovana je na metodi brzog uzorkovanja izlaznih signala sustava. Optimizacija parametara regulatora provedena je korištenjem genetičkog algoritma. Simulacijski rezultati pokazuju kako je predloženi upravljački algoritam, uz predloženu metodu estimacije, moguće koristiti za sekundarnu regulaciju frekvencije i djelatne snage razmjene u nelinearnom elektroenergetskom sustavu.
Additional information
Notes on contributors
Krešimir Vrdoljak
Krešimir Vrdoljak received his B.Sc. and Ph.D. degrees in Electrical Engineering from the University of Zagreb, Croatia in 2003 and 2009, respectively. From 2003 to 2009 he was employed at the Department of Control and Computer Engineering at the Faculty of Electrical Engineering and Computing in Zagreb, Croatia. He is currently employed at Končar—Power Plant and Traction Engineering Inc., Zagreb, Croatia. His research interests are in advanced control techniques applied to power systems.
Nedjeljko Perić
Nedjeljko Perić (1950.) has been professionally working for the last thirty five years as a scientist and researcher in the area of automatic control and automation of complex processes and systems. His scientific and professional work can be grouped into two distinct phases. During the first phase he was working at the Končar's Institute of Electrical Engineering (1973–1993) with emphasis on development of the automation systems for complex processes. In particular, he initiated and led the corporate research and development programs for the microprocessor control of electrical machines and related fast processes. The second phase of his work is connected to the employment at the Faculty of Electrical Engineering and Computing in Zagreb (from 1993 onwards), where he has initiated a broad research activity in advanced control of complex and large scale technical systems. His research results are published in scientific journals (more than 30 papers), proceedings of international conferences (more than 200 papers), and in numerous research studies/reports (more than 60 reports). Prof. Perić has particularly excelled in the leadership of national and international research projects. For his work he has received numerous awards, among others, the Croatian national award for science (for year 2007) for important scientific achievement in development of advanced control and estimation strategies for complex technical systems. He has also received the “Fran Bošnjaković” award (in 2009) for the exceptional contribution to the development and promotion of the automatic control research field within the area of technical sciences.
Ivan Petrović
Ivan Petrović received B.Sc. degree in 1983, M.Sc. degree in 1989 and Ph.D. degree in 1998, all in Electrical Engineering from the Faculty of Electrical Engineering and Computing (FER Zagreb), University of Zagreb, Croatia. He had been employed as an R&D engineer at the Institute of Electrical Engineering of the Končar Corporation in Zagreb from 1985 to 1994. Since 1994 he has been with FER Zagreb, where he is currently the head of the Department of Control and Computer Engineering. He teaches a number of undergraduate and graduate courses in the field of control systems and mobile robotics. His research interests include various advanced control strategies and their applications to control of complex systems and mobile robots navigation. Results of his research effort have been implemented in several industrial products. He is a member of IEEE, IFAC—TC on Robotics and FIRA—Executive committee. He is a collaborating member of the Croatian Academy of Engineering.