Non-linear excitation and governor control

Modern microprocessor capabilities permit the control designer to consider using relatively complicated nonlinear control algorithms, which would have been considered impractical in the past. This thesis presents the results of a study of the variable structure control and inverse control technique for the design of excitation and governor controllers for a power system. Power systems with a single machine connected to an infinite busbar as well as multimachine systems were considered. Control laws for rotor angle and field flux are derived. The closed loop system is shown to be asymptotically stable. The system can be transferred to a new operating condition corresponding to any desired terminal voltage {dollar}V\sb{t}{dollar} and tie-line power {dollar}P\sb{tie}.{dollar}

Comparing Kalman Filters and Observers for Power System Dynamic State Estimation with Model Uncertainty and Malicious Cyber Attacks

Kalman filters and observers are two main classes of dynamic state estimation (DSE) routines. Power system DSE has been implemented by various Kalman filters, such as the extended Kalman filter (EKF) and the unscented Kalman filter (UKF). In this paper, we discuss two challenges for an effective power system DSE: (a) model uncertainty and (b) potential cyber attacks. To address this, the cubature Kalman filter (CKF) and a nonlinear observer are introduced and implemented. Various Kalman filters and the observer are then tested on the 16-machine, 68-bus system given realistic scenarios under model uncertainty and different types of cyber attacks against synchrophasor measurements. It is shown that CKF and the observer are more robust to model uncertainty and cyber attacks than their counterparts. Based on the tests, a thorough qualitative comparison is also performed for Kalman filter routines and observers.Comment: arXiv admin note: text overlap with arXiv:1508.0725

A Heuristic Dynamic Programming Based Power System Stabilizer for a Turbogenerator in a Single Machine Power System

Power system stabilizers (PSS) are used to generate supplementary control signals for the excitation system in order to damp the low frequency power system oscillations. To overcome the drawbacks of conventional PSS (CPSS), numerous techniques have been proposed in the literature. Based on the analysis of existing techniques, a novel design of power system stabilizer (PSS) based on heuristic dynamic programming (HDP) is proposed in this paper. HDP combining the concepts of dynamic programming and reinforcement learning is used in the design of a nonlinear optimal power system stabilizer. The proposed HDP based PSS is evaluated against the conventional power system stabilizer and indirect adaptive neurocontrol based PSS under small and large disturbances in a single machine infinite bus power system setup. Results are presented to show the effectiveness of this new technique

Direct data-driven control of constrained linear parameter-varying systems: A hierarchical approach

In many nonlinear control problems, the plant can be accurately described by a linear model whose operating point depends on some measurable variables, called scheduling signals. When such a linear parameter-varying (LPV) model of the open-loop plant needs to be derived from a set of data, several issues arise in terms of parameterization, estimation, and validation of the model before designing the controller. Moreover, the way modeling errors affect the closed-loop performance is still largely unknown in the LPV context. In this paper, a direct data-driven control method is proposed to design LPV controllers directly from data without deriving a model of the plant. The main idea of the approach is to use a hierarchical control architecture, where the inner controller is designed to match a simple and a-priori specified closed-loop behavior. Then, an outer model predictive controller is synthesized to handle input/output constraints and to enhance the performance of the inner loop. The effectiveness of the approach is illustrated by means of a simulation and an experimental example. Practical implementation issues are also discussed.Comment: Preliminary version of the paper "Direct data-driven control of constrained systems" published in the IEEE Transactions on Control Systems Technolog

Least Squares Estimation-Based Synchronous Generator Parameter Estimation Using PMU Data

In this paper, least square estimation (LSE)-based dynamic generator model parameter identification is investigated. Electromechanical dynamics related parameters such as inertia constant and primary frequency control droop for a synchronous generator are estimated using Phasor Measurement Unit (PMU) data obtained at the generator terminal bus. The key idea of applying LSE for dynamic parameter estimation is to have a discrete \underline{a}uto\underline{r}egression with e\underline{x}ogenous input (ARX) model. With an ARX model, a linear estimation problem can be formulated and the parameters of the ARX model can be found. This paper gives the detailed derivation of converting a generator model with primary frequency control into an ARX model. The generator parameters will be recovered from the estimated ARX model parameters afterwards. Two types of conversion methods are presented: zero-order hold (ZOH) method and Tustin method. Numerical results are presented to illustrate the proposed LSE application in dynamic system parameter identification using PMU data.Comment: 5 pages, 6 figures, accepted by IEEE PESGM 201

Two Separate Continually Online Trained Neurocontrollers for Excitation and Turbine Control of a Turbogenerator

This paper presents the design of two separate continually online trained (GOT) artificial neural network (ANN) controllers for excitation and turbine control of a turbogenerator connected to the infinite bus through a transmission line. These neurocontrollers augment/replace the conventional automatic voltage regulator and the turbine governor of a generator. A third COT ANN is used to identify the complex nonlinear dynamics of the power system. Results are presented to show that the two COT ANN controllers can control turbogenerators under steady state as well as transient conditions and thus allow turbogenerators to operate more closely to their steady state stability limits

Distributed Optimal Frequency Control Considering a Nonlinear Network-Preserving Model

This paper addresses the distributed optimal frequency control of power systems considering a network-preserving model with nonlinear power flows and excitation voltage dynamics. Salient features of the proposed distributed control strategy are fourfold: i) nonlinearity is considered to cope with large disturbances; ii) only a part of generators are controllable; iii) no load measurement is required; iv) communication connectivity is required only for the controllable generators. To this end, benefiting from the concept of 'virtual load demand', we first design the distributed controller for the controllable generators by leveraging the primal-dual decomposition technique. We then propose a method to estimate the virtual load demand of each controllable generator based on local frequencies. We derive incremental passivity conditions for the uncontrollable generators. Finally, we prove that the closed-loop system is asymptotically stable and its equilibrium attains the optimal solution to the associated economic dispatch problem. Simulations, including small and large-disturbance scenarios, are carried on the New England system, demonstrating the effectiveness of our design

A Heuristic-Dynamic-programming-Based Power System Stabilizer for a Turbogenerator in a Single-Machine Power System

Power system stabilizers (PSSs) are used to generate supplementary control signals for the excitation system in order to damp the low-frequency power system oscillations. To overcome the drawbacks of a conventional PSS (CPSS), numerous techniques have been proposed in the literature. Based on the analysis of existing techniques, a novel design based on heuristic dynamic programming (HDP) is presented in this paper. HDP, combining the concepts of dynamic programming and reinforcement learning, is used in the design of a nonlinear optimal power system stabilizer. Results show the effectiveness of this new technique. The performance of the HDP-based PSS is compared with the CPSS and the indirect-adaptive-neurocontrol-based PSS under small and large disturbances. In addition, the impact of different discount factors in the HDP PSS\u27s performance is presented

Two Separate Continually Online-Trained Neurocontrollers for Excitation and Turbine Control of a Turbogenerator

This paper presents the design of two separate continually online trained (COT) neurocontrollers for excitation and turbine control of a turbogenerator connected to the infinite bus through a transmission line. These neurocontrollers augment/replace the conventional automatic voltage regulator and the turbine governor of a generator. A third COT artificial neural network is used to identify the complex nonlinear dynamics of the power system. Results are presented to show that the two COT neurocontrollers can control turbogenerators under steady-state as well as transient conditions and, thus, allow turbogenerators to operate more closely to their steady-state stability limit