Synergetic control for zonal distribution systems

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Automatic Control Systems Department
NEW COORDINATING CONTROL STRATEGIES FOR POWER
SYSTEM OBJECTS (RESULTS AND PERSPECTIVES)
Anatoly KOLESNIKOV Gennadiy VESELOV Andrew
POPOV Boris DOLGOPJATOV Victor BELJAEV Andrew
KUZMENKO Alexander KOLESNIKOV
The highest wisdom is the ability to control
without using force Vovenarg
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New Control Strategies
Problems
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Simulation of Power System
Problems and Approaches

• High order of the system
• Non-linearity of the system caused by the
  presence of nonlinear components and connections
• Stiffness of the system
• Sparse matrices describing the system

Physical Object

• Koshi task solution
• Newton formula
• Runge-Kutta methods
• Explicit and implicit difference schemes
• Terminal task solution
• grid methods
• variation methods

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Particularities of the Simulation Tasks for
Controllable Systems
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Functional Topology of Power System
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Basic features of autonomous electric power
systems

• Dynamic nature
• Non-linearity
• High dimension
• Multiple connectivity
• Presence of interacting subsystems
• Amorphous structure
• Possibility of chaotic behavior

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Structural hierarchy of power system
The whole power system
Subsystems of power system
groups of PSs objects,tied together by common
task, place, load, feeding etc.
Local objects of power system
sources, converters and consumers of electric
power
Hierarchy of automatic regulators
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PSs Control Strategy Building
Main stages

• Development of local control strategies for
  PSs objects
• Development of coordinating control strategies
  for PSs interacting subsystems
• Development of global control strategy for
  whole power system

Main problems

• Analysis of fundamental properties of real PSs
  objects and processes of interaction in real PSs
  subsystems
• Synthesis of local, coordinating and global
  regulators

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New Control Strategies
Results of Research
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Development of New Control Strategy for
Turbo-generators
The Structure of Power System with a
Turbo-generator
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Simulation Results for a Large Power
Turbogenerator
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Simulation Results for the Turbogenerator of
Limited Power
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Development of New Control Strategy for DC EMS
Structure of DC EMS Vector Control
Armature voltage
Excitation voltage
Power Bus
Control
Developed control strategies

• Ensure performing by DC EMS various
  technological missions

• shafts rotation speed stabilization
• shafts rotation angle stabilization (positioning
  task)
• regime of mechanical oscillation generator
  (mechanical oscillator )

Technological invariants

• Ensure power losses minimization in power
  channels of DC EMS (power-saving control)

Power invariant
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Examples of DC EMS control strategies
closed-loop systems simulation
2. Mechanical oscillator mode
1. Shafts rotation speed stabilization
3D phase portrait projection to space X1X2X3
(angle-speed-armature current)
In this case attractor of closed-loop system is
the cycle in phase space that located on the
intersection of invariant manifolds
hyper-surfaces of 4th order. In synergetic
synthesis procedure equations of well-known
oscillators (Van der Paul, Rayleigh, Poincare
etc.) were used.
Transients in phase coordinates and control
3D phase portrait
Transients in phase coordinates and control
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Strategies of DC EMS power-saving control
Electric Power
Losses
Mechanical Power
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Development of New Control Strategy for AC EMS
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Examples of AC EMS control strategies
closed-loop systems simulation
Asynchronous Drive with a Shorted Rotor
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Examples of AC EMS control strategies
closed-loop systems simulation
Synchronous Drive
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Examples of AC EMS control strategies
closed-loop systems simulation
Synchronous Drive with constant magnet
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Development of Coordinating Control Strategies
for PSs Subsystems
Power system consist of great number of
interacted objects. There can be the situation,
when local regulators dont ensure effective
realization of the objects technological
missions. In that case its necessary to
coordinate the joint work of interacted
objects.Systems designers have the task of
coordinating control strategies building.
Main types of objects interaction
Through common load (electrical or mechanical)
Through common feeding bus
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Development of Coordinating Control Strategies
for Turbogenerators
working on common load
The Structure of Power System with pair
Turbo-generators
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Simulation Results for the Large Power Group
Turbo-generators
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Development of Coordinating Control Strategies
for a Group of Consumers
Fed from a Common Source of Limited Power
Interaction of consumers through a common source
is a characteristic feature of autonomous
systems. In this case the main function of
coordinating regulators is a power redistribution
in regimes of feeding worsening
Total Control Strategy for Subsystem Source -
Consumers Group
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Basic Principles of Power Redistribution

• Equal-priority
• when the importance of all consumers in the
  group is equal.
• Hierarchical
• when all the consumers, depending on the
  importance of the task that they solve, should be
  clearly located at the steps of hierarchical
  ladder. That is they should have a certain level
  of priority.

Basic Stages of Control Strategies Building
1. Synthesis the local strategies for every
consumer of group 2. Building the model of
objects interaction through common source 3.
Determination of energy redistribution scheme and
set priority hierarchy (if it necessary) 4.
Synthesis a coordinating control strategy
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Example of coordinating control strategy
Source Static Characteristic
Group hierarchy
DC EMS 1
DC EMS 2
DC EMS 3
EMS 1 stabilization of rotation speed
Group technological combination
EMS 2 mechanical oscillation regime
EMS 3 stabilization of rotation speed
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Closed-loop system simulation
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New Control Strategies
Perspectives
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Recommendations for the Future Development of the
Power System Control Strategies
Local Level of Power System

• Working out in detail of the mathematical
  models and basic laws of vector control for the
  local PSs objects that were obtained during the
  work on the project
• Determining and classifying the disturbances
  the influencing the system from the natural and
  technological environment and building the
  control algorithms guarantying invariance of the
  controlled objects to the external disturbances
• Researching the conditions of chaotic switching
  modes emergence and accounting the probability of
  such modes in the PSs objects control strategies
• Estimation of the dissipate processes in the
  PSs objects and search for power-saving local
  control strategies

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Group and Zonal Level of Power System

• Perfecting the developed principles methods and
  ways of building the coordinating control
  strategies for the power system
• Search for the most power-effective algorithms
  of coordination allowing to distribute power in
  multiply connected system with limited resources
• Development of the methods of estimation of
  connective stability of the autonomous PS
  subsystems methods of synthesis of the
  structural-adaptive regulators that would ensure
  stability of the subsystems and would perform
  adequate power redistribution in case of changing
  of the group (zonal) configuration

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Global Level of Power System

• Development of the new approaches to the
  physical and mathematical decomposition of power
  systems
• Development of the methods of estimation of
  connecting stability in the complex power systems
  
• Development of the synergetic theory of
  computerized synthesis of coordinating systems of
  decentralized control of PS as multiply
  connected dynamic systems
• Development of the methods of determining the
  informational and entropy qualities of the PS
• Determining the conditions of chaotic modes
  emerging (spontaneous behavior) in the objects
  and PS subsystems
• Development of the methods of directed
  self-organization of nonlinear dynamic systems
  for building the algorithms of control excluding
  or using the chaotic modes of behavior