Assignment 2
Assignment 2
Assignment 2
Course:
ELEC ENG 3110 Electric Power Systems
ELEC ENG 7074 Power Systems PG
(Semester 2, 2021)
Assignment 2:
Power System Frequency Control
(Due 23:00 Fri. 29 October 2021
Electronic Submission)
The deliverable outcome is to be an engineering report that clearly and concisely details the con-
duct and findings of your investigation and clear and pointed discussion of the technical and en-
gineering significance of your findings. The report should address each of the matters and
questions listed in the scope of work in Section 3. Credit will be given for innovative studies
and analysis that either reveal other aspects of system performance or which improve the per-
formance of the system.
It is recommended that you follow the guidelines for writing technical engineering reports pro-
duced by Monash University and which are available at the following web-site:
https://www.monash.edu/rlo/assignment-samples/engineering/eng-writing-technical-reports
With reference to the above guidelines your report is expected to convey information to other
engineers about key aspects of the performance of the system and it is intended for selective
reading. The latter point means that you should organize your report into sections with inform-
ative headings.
It is strongly recommend that you approach this assignment in the same way as you would
as a professional engineer conducting the project for an employer or client.
Introductory analysis is presented in Section 1 to assist in the systematic formulation of the fre-
quency control model.
1 Introductory Analysis
The objective is to explore the performance of the system frequency control system as the mix
of generation sources is varied. We are interested in assessing performance for different propor-
tions of synchronous and asynchronous generation and how the performance of the frequency
control system performs as different proportions of generation capacity are equipped with pri-
mary frequency control. The overall structure of the system model is shown in Figure 1. In this
model the equivalent generator model represents the effective inertial response of the system
taking into consideration that a proportion of the generation is asynchronous. A proportion of
both the synchronous and asynchronous generation sources are not equipped with frequency
controls and therefore do not contribute to the control of system frequency. A proportion of syn-
chronous sources are equipped with governors which control the speed of their generators and
a proportion of asynchronous sources are also equipped with frequency controllers that are used
to regulate their power output so as to control system frequency.
Turbine P msp Pm
P msp 0
Governor
Equivalent
Synchronous P msu
P msu Generator
P L0 f
Ungoverned 0
Generation P
Asynchronous P mau0 mau
P map0
Frequency P map
Control
To facilitate this exploration the total online generation capacity is divided into a number of
components.
S b = S sb + S ab (1)
where S sb and S ab are respectively the online synchronous and online non-synchronous (or
asynchronous) generation capacity.
S sb = sb S b and S ab = 1 – sb S b (2)
where sb is the specified proportion of the total online generation capacity which is synchro-
nous.
The online synchronous generation capacity is then partitioned into the following components:
S sb = S spb + S sub where (3)
The online asynchronous generation capacity is similarly partitioned into a fraction with prima-
ry governing control, S apb , and the balance of asynchronous generation which is ungoverned,
S aub , where:
Thus, to define the online capacities of the different types of generation represented in our mod-
el the parameters sb , spb and apb must be specified.
For example, if sb = 0.8 then 80% of all online generation capacity is synchronous and the
balance 1 – sb = 0.2 (i.e. 20%) is asynchronous. If spb = 0.4 then 40% of the online syn-
chronous generation capacity is under primary frequency control and the balance of such gen-
eration (i.e. 60%) is not under frequency control. In this example it means that
sb spb = 0.8 0.4 = 0.32 or just 32% of all online capacity is under primary frequency
control.
The initial power output from the online synchronous generation with primary speed control is
specified as a fraction sp of the specified online capacity S spb of this type of generation. The
initial power output is expressed in per-unit of S b .
S spb spb S sb
P msp0 = sp ---------- = sp ------------------ = sp spb sb in pu of S b (7)
Sb Sb
The initial output from the other types of generation are similarly specified as follows:
P msu0 = su 1 – spb sb
P map0 = ap apb 1 – sb pu on S b . (8)
P mau0 = au 1 – apb 1 – sb
The initial power output from the synchronous generation sources is:
P ms0 = P msp0 + P msu 0 (9)
and the initial power output from the asynchronous generation sources is:
P ma0 = P map 0 + P mau 0 (10)
and finally, the initial output from all generation sources is,
P m0 = P ms0 + P ma 0 . (11)
Thus, to define the initial steady-state operating point of the system it is necessary to specify
sp su ap and au .
It is important to distinguish between online capacity of the various generation categories and
the actual (initial) power output from each of these generation categories. Thus, if, for example,
sp = 0.5 then it means that initially the power output of the online synchronous generation
capacity that is under primary frequency control is 50%. If, furthermore, b = 0.8 and
spb = 0.4 it follows that the initial power output from all online synchronous generation ca-
pacity that is under primary frequency control is:
P msp0 = sp spb b = 0.5 0.8 0.4 = 0.16 pu of S b .
For use in the model this inertia constant must be converted to per-unit on S b . Thus,
S sb
H = H s ------- = sb H s (12)
Sb
1.3.3 Composite rotor equation of motion for the analysis of system-frequency controls
The acceleration equation of the system is, as detailed in the lectures,
df
2H --------- = P m – P l in pu of S b (14)
dt
where P m and P l are respectively the generation and load, f is the per-unit system-frequency
perturbation and H is as defined in (12). The block diagram of this equation, including the fre-
quency dependence of the load, is shown in Figure 2.
1 R – Droop – pu on Sspb
---
R
P msp 0 P0
G P mt P msp
SYS2SYN
ug GOV TURB SYN2SYS
pu on Sb pu on Sspb pu on Sspb pu on Sb
LR
ug 1 1 G
----- ---
Tg s
LL
F HP
P
G 1 1 1 mt
------------ ------------ ------------ F LP
sT CH sT RH sT CO
HP flow IP flow LP flow
F IP
File Description
Mathworks, the company that provides Matlab and Simulink, provide a number of getting start-
ed resources. The following may be useful:
• A listing of getting started resources is available at https://au.mathworks.com/help/sim-
ulink/getting-started-with-simulink.html
• A text based overview and introduction to the Simulink program is available at: https://
www.mathworks.com/help/pdf_doc/simulink/sl_gs.pdf
The assignment includes a Simulink model and associated Matlab driver software which can be
used as a good basis for developing skills in using Matlab and Simulink. To run the simulation
specified in the FCS_01.m script.
3 Scope of work
3.1 Base case parameters
The system parameters for the base case model are listed in Table 2. In subsequent sections pa-
rameters are specified as variations of this set of base case parameters. In this base case all on-
line generation is synchronous (i.e. there is no asynchronous generation). All online
synchronous generation capacity is governing and is loaded to 80% of its capacity.
Capacity fractions
Load fractions
sp 0.8 ap 0.8
su 0.8 au 0.8
Hs 3.5 D 1.0
F LP 0.4
Setup the model with its base case parameters in Table 2 and then set spb = 0 so that there
will be no frequency control. Calculate the response of the system to a step increase in the load
of P L0 = 0.02 pu.
Plot and discuss the response of the system frequency. Conduct mathematical analysis to verify
that the initial rate of change of frequency and the final frequency obtained from the model re-
sponse is correct.
Using the base case model perform a simulation in which a step increase in the load of
P L = 0.02 pu is applied.
Based on your knowledge of the steady-state behaviour of governors with a steady-state droop
characteristic what do you expect the final frequency deviation f f to be after the application
of the step-change in load. Ensure that you also include the frequency dependence of the system
load. How does your expectation compare with the final steady-state frequency from your Sim-
ulink study?
What is the initial rate-of-change-of-frequency (RoCoF) from your Simulink study? How does
this compare with what you expect from a mathematical analysis of the model? (Note that the
initial RoCoF due to a step-change in load is not influenced by the governor and turbine. Why?)
From the instant that the step is applied how long does it take for the system-frequency to settle
to within 5% of its final value. This time is referred to as the 5% settling time of the response.
If the final frequency deviation from nominal frequency is f f then the 5% settling time is de-
termined by the time taken for the frequency deviation to first fall within, and then remain with-
in, the frequency band f = 1 0.05 f f .
What is the maximum deviation in frequency f max and at what time t fmax does it occur after
the step is applied? (Note, f max may be positive or negative).
Plot the responses of the turbine power output (P mt ), the frequency deviation ( f ) and the gov-
ernor valve position ( G ).
3.4 Investigate factors that influence system frequency response – Governing by syn-
chronous generators only.
Analysis in this section is based on the simplified model of the primary frequency control sys-
tem of a power system in which frequency control is only performed with governors fitted to
synchronous generators. The factors that influence the system-frequency response are investi-
gated. Use, as a minimum, the following measures to assess the system-frequency response.
In this investigation the emphasis is on comparing these measures as certain parameters are var-
ied.
The above performance measures are meaningful only if the system is stable. It is conceivable
that the system will be unstable for some combinations of model parameters. If so you should
clearly indicate in your report if a scenario is unstable and suggest reasons why.
At a minimum investigate the influence of the following factors on the system-frequency re-
sponse to step-changes in the system load.
1. Starting with the base case, investigate the effect of varying the synchronous machine
inertia constant, H s , within the range from 1.0 to 6.0 pu.s on S sb . Report your findings
with emphasis on those performance factors most influenced by the variation in inertia.
Explain the reasons for and engineering significance of your findings.
2. Starting with the base case, investigate the effect of varying the governor droop, R , within
the range from 1.0 to 8.0 % on S spb . Report your findings with emphasis on those perfor-
mance factors most influenced by the variation in droop. Explain the reasons for and engi-
neering significance of your findings.
3. Starting with the base case investigate the effect of reducing the proportion of online syn-
chronous generation capacity from 100% (base case) in steps of 25% to 25%. Report on
how this variation in capacity affects the system inertia constant H and the droop R when
the latter parameters are expressed in per-unit on the system MVA base S b . Adjust other
capacity and loading fractions to keep the total system load equal to the base case value of
0.8 pu on S b . Report your findings with emphasis on those performance factors most
influenced by the variation in online synchronous generation capacity. Relate your find-
ings in this section to your findings concerning the variation in inertia and the variation in
droop. Explain the reasons for and engineering significance of your findings.
Carefully consider how you present the results of your studies. It is important that you use tables
and figures that succinctly summarize the key findings of your studies. Importantly, overlaying
responses from multiple studies helps to visualize the sensitivity of the system responses to pa-
rameter variations. Similarly, summarizing in a single table the variation in performance met-
rics due to variation in system parameters aids interpretation.
You are encouraged to similarly investigate the effect on the system-frequency response of var-
ying other model parameters such as the following.
1. The size and direction of the step change in load.
2. The proportion of synchronous generation that is under primary frequency control.
3. The proportion of load supplied from synchronous sources.
Extend the Simulink model of the frequency control system to include the model shown in Fig-
ure 6. The base case parameters of the frequency control system following the inclusion of asyn-
chronous frequency control are listed in Table 3.
f
1
------ Ra – Droop – pu on Sapb
Ra
pu on Sb pu on Sapb pu on Sapb pu on Sb
P ord 1 1 Pa
----- ---
Ts s
Figure 8: Asynchronous source model (i.e. the block SRC in Figure 6).
Capacity fractions
Load fractions
sp 0.8 ap 0.8
su 0.8 au 0.8
Hs 3.5 D 1.0
F LP 0.4
T s (s) 0.08
It is strongly recommend that you approach this assignment in the same way as you would
as a professional engineer conducting the project for an employer or client.