بهینه‌سازی کنترل‌کننده PID در جهت کنترل بار-فرکانس در سیستم قدرت مجهز به توربین آبی و جبران‌کننده افتی گذرا با استفاده از الگوریتم هیبریدی PSO-NM
محورهای موضوعی : مهندسی برق قدرت
احمد باغبان
1
,
سید آرمان شیرمردی
2
,
مهیار عباسی
3
1 - گروه مهندسی برق، موسسه آموزش عالی کارون، اهواز، ایران
2 - گروه مهندسی برق، موسسه آموزش عالی کارون، اهواز، ایران
3 - گروه مهندسی برق، دانشکده مهندسی ، دانشگاه اراک، ایران
کلید واژه: کنترل بار-فرکانس, سیستم قدرت, کنترل‌کننده PID, پایداری سیگنال کوچک, توربین آبی.,
چکیده مقاله :
در این مقاله، یک الگوریتم جدید جهت کنترل بار یک توربین آبی متصل به شین بینهایت با جبران‌کننده افتی گذرا ارائه شده است. روش پیشنهادی در این مقاله از کنترل PID و الگوریتم ترکیبی ازدحام ذرات بهینه‌سازی بهره برده است. کنترل‌کننده PID در نظر گرفته شده، می‌تواند طیف وسیعی از تغییرات در پارامترهای سیستم را تحمل کرده و بدون اورشوت‌ها و نوسان‌های زیاد، سیستم را پایدار کند. کنترل‌کننده PID بهینه شده دارای اورشوت و زمان نشست کمتری نسبت به کنترل‌کننده PID غیر بهینه است. کنترل‌کننده PID همچنین ریپل و نوسانات توان خروجی را کاهش می‌دهد، که آن را به یک ابزار ارزشمند برای کنترل فرکانس و توان سیستم‌های توربین آبی تبدیل می‌کند در مجموع، نتایج نشان می‌دهد که کنترل‌کننده PID بهینه شده می‌تواند به طور موثری فرکانس و توان سیستم‌های توربین آبی را کنترل کند، اما در برخی موارد ممکن است نیاز به استفاده از روش‌های کنترلی پیشرفته‌تر باشد. شبکه تحت مطالعه در سیمولینک نرم افزار متلب مدلسازی شده است. نتایج حاصل از پیاده سازی سناریوهای مختلف، موید عملکرد صحیح الگوریتم پیشنهادی می‌باشد. کنترل‌کننده PID بهینه‌شده می‌تواند تغییرات گسترده‌تری در پارامترهای سیستم را تحمل کند. در حالی که کنترل‌کننده PID غیربهینه ممکن است در Tw=3 (ثابت‌زمانی توربین آبی) بدون اورشوت عمل کند، کنترل‌کننده بهینه تا Tw=5 بدون اورشوت سیستم را پایدار نگه می‌دارد.
This paper presents a novel algorithm for load control of a hydraulic turbine connected to an infinite bus with transient droop compensator. The proposed method utilizes PID control and a hybrid particle swarm optimization algorithm. The considered PID controller can tolerate a wide range of variations in system parameters and stabilize the system without significant overshoots and oscillations. The optimized PID controller has lower overshoot and settling time compared to the non-optimized PID controller. The PID controller also reduces ripple and fluctuations in output power, making it a valuable tool for frequency and power control of hydraulic turbine systems. Overall, the results show that the optimized PID controller can effectively control the frequency and power of hydraulic turbine systems, but in some cases, more advanced control methods may be required. The network under study is modeled in the Simulink environment of MATLAB software. The results obtained from the implementation of various scenarios confirm the correct performance of the proposed algorithm. The optimized PID controller can tolerate a wider range of variations in system parameters. While the non-optimized PID controller may operate without overshoot at Tw=3 (hydraulic turbine time constant), the optimized controller stabilizes the system without overshoot up to Tw=5.
[1] Q. P. Ha and H. Trinh, “A variable structure-based controller with fuzzy tuning for load-frequency control,” International Journal of Power and Energy Systems, vol. 20, no. 3, 2000, Accessed: Mar. 27, 2025. [Online]. Available: https://researchonline.jcu.edu.au/12891/
[2] S. Pothiya, I. Ngamroo, S. Runggeratigul, and P. Tantaswadi, “Design of optimal fuzzy logic based PI controller using multiple tabu search algorithm for load frequency control,” Int J Control Autom Syst, vol. 4, no. 2, 2006, Accessed: Mar. 27, 2025. [Online]. Available: https://www.ijcas.org/journal/view.html?uid=368&vmd=Full
[3] S. Doolla and T. S. Bhatti, “Load frequency control of an isolated small-hydro power plant with reduced dump load,” IEEE Transactions on Power Systems, vol. 21, no. 4, 2006, doi: 10.1109/TPWRS.2006.881157.
[4] G. Shahgholian, S. Yazdekhasti, and P. Shafaghi, “Dynamic analysis and stability of the load frequency control in two area power system with steam turbine,” in 2009 International Conference on Computer and Electrical Engineering, ICCEE 2009, 2009. doi: 10.1109/ICCEE.2009.95.
[5] G. Shahgholian, P. Shafaghi, and H. Mahdavi-Nasab, “A comparative analysis and simulation of ALFC in single area power system for different turbines,” in ICECT 2010 - Proceedings of the 2010 2nd International Conference on Electronic Computer Technology, 2010. doi: 10.1109/ICECTECH.2010.5479992.
[6] W. Tan, “Unified tuning of PID load frequency controller for power systems via IMC,” IEEE Transactions on Power Systems, vol. 25, no. 1, 2010, doi: 10.1109/TPWRS.2009.2036463.
[7] K. Vrdoljak, N. Perić, and I. Petrović, “Sliding mode based load-frequency control in power systems,” Electric Power Systems Research, vol. 80, no. 5, 2010, doi: 10.1016/j.epsr.2009.10.026.
[8] M. Tushir and S. Srivastava, “Application of a hybrid controller in load frequency control of hydro-thermal power system,” in 2012 IEEE 5th Power India Conference, PICONF 2012, 2012. doi: 10.1109/PowerI.2012.6479477.
[9] A. Yazdizadeh, M. H. Ramezani, and E. Hamedrahmat, “Decentralized load frequency control using a new robust optimal MISO PID controller,” International Journal of Electrical Power and Energy Systems, vol. 35, no. 1, 2012, doi: 10.1016/j.ijepes.2011.09.007.
[10] K. P. S. Parmar, S. Majhi, and D. P. Kothari, “Load frequency control of a realistic power system with multi-source power generation,” International Journal of Electrical Power and Energy Systems, vol. 42, no. 1, 2012, doi: 10.1016/j.ijepes.2012.04.040.
[11] P. Bhatt, S. P. Ghoshal, and R. Roy, “Coordinated control of TCPS and SMES for frequency regulation of interconnected restructured power systems with dynamic participation from DFIG based wind farm,” Renew Energy, vol. 40, no. 1, 2012, doi: 10.1016/j.renene.2011.08.035.
[12] P. Bhatt, S. P. Ghoshal, and R. Roy, “Load frequency stabilization by coordinated control of thyristor controlled phase shifters and superconducting magnetic energy storage for three types of interconnected two-area power systems,” International Journal of Electrical Power and Energy Systems, vol. 32, no. 10, 2010, doi: 10.1016/j.ijepes.2010.06.009.
[13] Y. Mi, Y. Fu, C. Wang, and P. Wang, “Decentralized sliding mode load frequency control for multi-area power systems,” IEEE Transactions on Power Systems, vol. 28, no. 4, 2013, doi: 10.1109/TPWRS.2013.2277131.
[14] D. G. Padhan and S. Majhi, “A new control scheme for PID load frequency controller of single-area and multi-area power systems,” ISA Trans, vol. 52, no. 2, 2013, doi: 10.1016/j.isatra.2012.10.003.
[15] S. Sondhi and Y. V. Hote, “Fractional order PID controller for load frequency control,” Energy Convers Manag, vol. 85, 2014, doi: 10.1016/j.enconman.2014.05.091.
[16] M. Mahdavian, G. Shahgholian, M. Janghorbani, B. Soltani, and N. Wattanapongsakorn, “Load frequency control in power system with hydro turbine under various conditions,” in ECTI-CON 2015 - 2015 12th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 2015. doi: 10.1109/ECTICon.2015.7206938.
[17] E. J. Oliveira, L. M. Honório, A. H. Anzai, L. W. Oliveira, and E. B. Costa, “Optimal transient droop compensator and PID tuning for load frequency control in hydro power systems,” International Journal of Electrical Power and Energy Systems, vol. 68, 2015, doi: 10.1016/j.ijepes.2014.12.071.
[18] M. Emadi, H. R. Massrur, E. Rokrok, and A. Samanfar, “A Comprehensive Framework for Optimal Stochastic Operating of Energy Hubs Integrated with Responsive Cooling, Thermal and Electrical Loads, and Ice Storage System by an Improved Self-Adaptive Slime Mold Optimization Algorithm,” Technovations of Electrical Engineering in Green Energy System, vol. 2, no. 1, pp. 77–95, 2023, doi: 10.30486/teeges.2022.1969195.1043.
[19] J. Zou, M. Pipattanasomporn, S. Rahman, and X. Lai, “A Frequency Regulation Framework for Hydro Plants to Mitigate Wind Penetration Challenges,” IEEE Trans Sustain Energy, vol. 7, no. 4, 2016, doi: 10.1109/TSTE.2016.2569560.
[20] S. V. Kamble and S. M. Akolkar, “Load frequency control of micro hydro power plant using fuzzy logic controller,” in IEEE International Conference on Power, Control, Signals and Instrumentation Engineering, ICPCSI 2017, 2018. doi: 10.1109/ICPCSI.2017.8392021.
[21] D. A. Pham, F. Nollet, N. Essounbouli, and A. Hamzaoui, “Voltage and Frequency Regulation for Wound Rotor Synchronous Generator in Micro Hydro Power Plants with Real-Time Implementation,” in Proceedings of 2017 International Renewable and Sustainable Energy Conference, IRSEC 2017, 2018. doi: 10.1109/IRSEC.2017.8477386.
[22] P. Khademi Astaneh and H. Sheikh Shahrokh Dehkordi, “Integrated Optimal Active and Reactive Power Planning in Smart Microgrids with Possibility of One-Hour Islanding,” Technovations of Electrical Engineering in Green Energy System, vol. 2, no. 2, pp. 36–50, 2023.
[23] S. Rozada, D. Apostolopoulou, and E. Alonso, “Deep multi-agent Reinforcement Learning for cost-efficient distributed load frequency control,” IET Energy Systems Integration, vol. 3, no. 3, 2021, doi: 10.1049/esi2.12030.
[24] F. Liang, W. Jiafu, and H. Bo, “Research on influence factors of primary frequency regulation contribution electric energy of hydropower unit,” in 2019 3rd IEEE Conference on Energy Internet and Energy System Integration: Ubiquitous Energy Network Connecting Everything, EI2 2019, 2019. doi: 10.1109/EI247390.2019.9061900.
[25] K. Nagode, I. Škrjanc, and B. Murovec, “Enhanced stability and failure avoidance of hydropower plant in contingent island operation by model predictive frequency control,” Energy Reports, vol. 8, 2022, doi: 10.1016/j.egyr.2022.07.040.
[26] D. A. Asoh, E. N. Mbinkar, and A. N. Moutlen, “Load Frequency Control of Small Hydropower Plants Using One-Input Fuzzy PI Controller with Linear and Non-Linear Plant Model,” Smart Grid and Renewable Energy, vol. 13, no. 01, 2022, doi: 10.4236/sgre.2022.131001.
[27] N. K. Jena, S. Sahoo, B. K. Sahu, J. Ranjan Nayak, and K. B. Mohanty, “Fuzzy adaptive selfish herd optimization based optimal sliding mode controller for frequency stability enhancement of a microgrid,” Engineering Science and Technology, an International Journal, vol. 33, 2022, doi: 10.1016/j.jestch.2021.10.003.
[28] R. Hasan, M. S. Masud, N. Haque, and M. R. Abdussami, “Frequency control of nuclear-renewable hybrid energy systems using optimal PID and FOPID controllers,” Heliyon, vol. 8, no. 11, 2022, doi: 10.1016/j.heliyon.2022.e11770.
[29] J. B. Ekanayake, N. Jenkins, and G. Strbac, “Frequency response from wind turbines,” Wind Engineering, vol. 32, no. 6, 2008, doi: 10.1260/030952408787548811.
[30] N. Kishor, S. P. Singh, and A. S. Raghuvanshi, “Dynamic simulations of hydro turbine and its state estimation based LQ control,” Energy Convers Manag, vol. 47, no. 18–19, 2006, doi: 10.1016/j.enconman.2006.03.020.
[31] S. S. Lee and J. K. Park, “Design of reduced-order observer-based variable structure power system stabiliser for unmeasurable state variables,” IEE Proceedings: Generation, Transmission and Distribution, vol. 145, no. 5, 1998, doi: 10.1049/ip-gtd:19982180.
[32] F. J. De Marco, N. Martins, and J. C. R. Ferraz, “An automatic method for power system stabilizers phase compensation design,” IEEE Transactions on Power Systems, vol. 28, no. 2, 2013, doi: 10.1109/TPWRS.2012.2209208.
[33] A. Arezooye Araghi, A. Ahmarinejad, M. Alizadeh, and M. Babaei, “Optimizing Energy and Ancillary Services Markets in Transmission and Distribution Networks Through a Two-Stage Optimal Framework Considering Flexible Loads, Electric Vehicles, and Storage Systems,” Technovations of Electrical Engineering in Green Energy System, vol. 2, no. 4, pp. 38–64, 2024, doi: 10.30486/teeges.2023.1986699.1074.
