Fault tolerant-based virtual actuator design for wide-area damping control in power system
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ORIGINAL PAPER
Fault tolerant-based virtual actuator design for wide-area damping control in power system D. V. Nair1
· M. S. R. Murty2
Received: 16 October 2019 / Accepted: 17 August 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract The objective of this article is to enhance the wide-area damping control of a large power system against actuator faults. In specific, damping of low-frequency system oscillations is carried out through centralized MIMO-based dynamic feedback controller (DFC). This particular approach requires multiple actuators, failure of which deteriorates dynamic response of the system. The problem of actuator faults is resolved using online reconfigurable control (RC). A reconfiguration component called virtual actuator (VA) is designed such that it reconfigures the system input and output signals and hides actuator fault from DFC. The process of control reconfiguration on actuator fault is automated without any additional control action. The effectiveness of the control methodology is verified by evaluating the dynamic system response of standard test systems using (1) multiple output DFC in damping control, and (2) online RC in design of fault tolerant wide-area damping controller. Keywords Fault-tolerant control · Actuator fault · Reconfigurable control · Virtual actuator · Wide-area control · Dynamic feedback controller · Power system
Nomenclature δ ω, ω0 H, D ψd , ψq ψf , ψkd ψkq1 , ψkd2 i f , i kd i kq1 , i kq2 xd , xq , xl xadus , xaqus xd , xq
B
xd , xq Rotor angle Rotor and synchronous speed Rotor inertia and damping coefficient d-axis and q-axis flux linkages Flux linkage to field coil and d-axis damper coil Flux linkages to two q-axis damper coils Current in field coil and d-axis damper coil Current in two q-axis damper coils Direct axis, quadrature axis and leakage reactance of generator d-axis and q-axis mutual reactance of generator d-axis and q-axis transient reactance of generator
, T Td0 q0 , T Td0 q0
E fd KA TA Vpss Vref e Vmod X 1svc , X 2svc Bsvc Ks T1s , . . . T5s s Vmod
d-axis and q-axis subtransient reactance of generator d-axis and q-axis open circuit transient time constants d-axis and q-axis subtransient time constants Exciter output voltage AVR gain constant AVR time constant Voltage output of PSS Voltage reference set at input Supplementary control input of Exciter SVC state variables Net susceptance contributed by SVC SVC gain constant SVC time constants Supplementary control input of SVC
D. V. Nair [email protected]
1 Introduction
1
Faculty of Science and Technology, IFHE Hyderabad, Hyderabad, India
2
Department of EEE, CMR College of Engineering and Technology Hyderabad, Hyderabad, India
Modern power systems are growing larger with the interconnection of several regional systems. It is obvious that the large power system is subjected to frequent disturbances such as load variation, outage of system components and loss/delay
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Electrical Engineering
of control commands. Hence, stable and efficient
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