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A.V. Chekhonadskikhb
Department of Engineering Mathematics
NSTU
Novosibirsk, Russia
alexander_cheh@mail.ru
A.A. Voevoda
Department of Automation
NSTU
Novosibirsk, Russia
voevoda@ucit.ru
I. INTRODUCTION
AbstractTraditional power systems consist of few
centralized power plants, passive grid and uncontrollable passive
loads. It is expected that deep penetration of modern trends like
distributed generation, SmartGrids and microgrids will lead to a
plenty highly automated power units. Each of them should be
equipped with effective controllers. Like many years before PID
controllers remain relevant and popular despite many others
technologies, because they are based on well proven, reliable and
clear practice. But PID controllers should be well tuned in order
to keep stability of the unit and the entire grid. Existing methods
usually assume that the control parameters are chosen at first,
then the controlled unit is tested on applicability and stability.
Classical methods (D-decomposition et al.) are quite effective for
only one or two tunable parameters.
The method proposed in this paper is based on the
optimization concept of modal design. We consider Hurwitz
function (control system relative stability), which is determined
by the rightmost pole location and depends on the parameters of
the controller. Its minimization using finite gradient method
represents a complicated optimization problem. Number of the
rightmost poles defines dimension of the manifold. When several
poles is almost on the same vertical, we are approaching the zerodimensional manifold: points of global or local extrema.
The described method is suitable to various problems of
parametric optimization. The authors previously tested it in the
control of various plants such as multilink mathematical and
inverted pendulums. In the article it is used to optimize PDD2
controller for the linear model of a synchronous generator;
similarly it can be used for optimization of PID controllers and
other structure ones.
KeywordsAVR;
distributed
generation;
smartgrid;
synchronous generator; control system; low order controller;
parameter optimization; relative stability; finite gradient method;
pole location
Fig. 1.
Functional scheme of the control system: setpoint Uset subtracted
from the voltage Ug of the generator; AVR converts the error U in the control
action emf Eqe which transforms it into no-load emf Eq acting on the output
voltage Ug.
II.
function
Fig. 2. Root portrets for gradient descent stabilization points in 1-2 paramer
spaces. One-dimentional manifolds (i, ii) are defined by one equality or real
components; zero-dimentional manifold (iii) is defined by two equalities or
real and imaginary components of the roots.
This leads to the following important conclusion about suboptimality of P-regulation in the class of PD controllers:
Proposition. The proportional AVR at an optimal
parameter value allows achieving practically the same relative
stability of the system as the optimal PD controller; thus we
have almost the same rate of decay of transients.
Remark. Optimal P and PD parameters values was used in
nonlinear AVR system model, simulated in matlab (simulink)
[7]; by this way we have controlled modal optimization results
using the more explicit representation of the transients and
verified the effectiveness of the modal optimization. This
reason eliminates the need to achieve greater precision of
calculations in finding minima coordinates.
IV. PDD2 CONTROLLERS
Since the parameter space here is three-dimensional, the
minima of Hurwitz function will correspond to the root
locations defined by the three equalities of real and imaginary
root components: for example, quadruple real root or locations
of lower series in Fig. 4 (in fact, the number of extreme pole
locations for systems with three parameters is equal to eight,
[10]). The most typical case is the stabilization of the gradient
descent in the points with equal real root and real complex pair
components (Fig. 4, vi), for example:
vi) H (1.002; 3.570; 1.461) 1.3741; the characteristic
roots are equal to {1.374; 1.374 6.569i; 1.374 2.938i}.
However this manifold is a one-dimensional one and allows
continuing minimization.
A global extreme point is achieved at the point with a
double complex pair is placed at the same vertical line with the
real root close to the point (Fig. 4, vii):
vii) H (3.632; 1.726; 1.330) 1.498; the characteristic
roots are equal to {1.501; 1.499 5.321i; 1.498 5.358i}.
Lower left location in Fig. 4 was achieved in other
examples; but in this case such points were not detected
Fig.3. The level lines of Hurwitz function for PD controller from 0.40 on the
outside to 0.45 inside. The horizontal axis is the D control parameter b, the
vertical axis is the P control parameter a.
ACKNOWLEDGMENT
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