Abstract
This article deals with automatic generation control (AGC) of a three-area power system having five diversified sources of generation like thermal unit, hydro unit, wind unit, diesel unit and a gas unit are interconnected together. Area-1 of the power system consists of a thermal, a hydro and a wind unit, area-2 has a thermal, a hydro and a diesel unit and area-3 consists of a thermal, a hydro and a gas unit. To make system more realistic different nonlinear components like governor dead band (GDB), generation rate constraint (GRC), boiler dynamics and communication delay are taken into account. A novel two-degree of freedom fractional order PID with derivative filter and fractional order PD with derivative filter (2-DOF-FOPIDN-FOPDN) cascaded control strategy is adopted to improve the dynamic performance of the power system. The results obtained with the proposed cascaded controller are compared with that of PID, FOPID and 2-DOF-PIDN-PDN cascaded controller to prove its superiority. To enumerate the gains of different controllers optimally, a recently developed bio-inspired optimisation algorithm named selfish herd optimisation (SHO) is capitalised. Further, the work is extended by taking a two-area hydro-thermal system to compare the result of the SHO tuned PID controller with that of modern hybrid firefly algorithm-pattern search (hFA-PS) technique. Transient analysis is carried out by applying a sudden load disturbance of 0.01 p.u in area-1 and the robustness of the controller is examined by varying both system parameters and applying a randomly varying load in area-1. From the investigation it is concluded that the 2-DOF-FOPIDN-FOPDN controller gives a flawless and a distinct performance.
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Appendices
Appendix A
\(K_{ps} = 120,\,T_{ps} = 20s,\,R_{x} = R_{y} = R_{z} = 2.4,\,B_{1} = B_{2} = B_{3} = 0.425,\,T_{12} = T_{23} = T_{31} = 0.0707,\,a_{12} = a_{13} = a_{23} = - 1.\)
Thermal Units:
\(T_{g1} = 0.2\,s\), \(T_{t} = 0.3\,s\), \(T_{r} = 10\,s\), \(K_{r} = 0.333\,\), \(N_{1} = 0.8\), \(N_{2} = - 0.2\), \(K_{1} = 0.85\), \(K_{2} = 0.095\), \(K_{3} = 0.92\), \(c_{B} = 200\), \(K_{ib} = 0.5\), \(T_{ib} = 26\,s\), \(T_{rb} = 69\,s\), \(T_{D} = 0\), \(T_{F} = 10\,s\), \(T_{t} = 0.3\,s\).
Hydro Units:
\(T_{g2} = 48.7\,s\), \(T_{1} = 0.513\,s\), \(T_{2} = 10\,s\), \(T_{w} = 1s\).
Gas Unit:
\(C_{GS} = 1\), \(B_{GS} = 0.05\), \(X_{GS} = 0.6\), \(Y_{GS} = 1\), \(T_{CR} = 0.01\,s\), \(T_{FR} = 0.23\,s\), \(T_{CD} = 0.2\,s\).
Wind Farm & Diesel Unit:
\(k_{2} = 1.25\), \(k_{3} = 1.4\), \(T_{p1} = 0.6\,s\), \(T_{p2} = 0.041\,s\), \(k_{diesel} = 16.5\,\).
Appendix B
\(K_{ps} = 120\), \(T_{ps} = 20s\), \(B_{1} = B_{2} = 0.425\), \(R_{1} = 2\), \(R_{2} = 2.4\), \(T_{12} = 0.0707\), \(a_{12} = - 1\).
Thermal Units:
\(T_{g} = 0.08\,s\), \(T_{t} = 0.3\,s\).
Hydro Units:
\(T_{g} = 48.7\,s\), \(T_{H1} = 0.513\,s\), \(T_{H2} = 10\,s\), \(T_{w} = 1s\).
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Sahoo, S., Jena, N.K., Ray, P.K. et al. Selfish Herd Optimisation tuned fractional order cascaded controllers for AGC Analysis. Soft Comput 26, 2835–2853 (2022). https://doi.org/10.1007/s00500-021-06518-2
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DOI: https://doi.org/10.1007/s00500-021-06518-2