Paper accepted for presentation at 2003 IEEE Bologna Power Tech Conference, June 23th-26th, Bologna, Italy
Dynamic’s Problems of Frequency and Active
Power Control in Electric Power System
V. Chuvychin, Senior Member, IEEE, N. Gurov, Nonmember,
A. Skutelis, Ph.D. Student, Nonmember, V. Strelkovs, Graduate Student, Nonmember
Abstract -- One of the main problems in the area of frequency
control is providing proper dynamics of frequency and active
power deviation. The paper deals with analysis of the frequency
and active power deviation dynamics during turbine governor
action. For providing effective frequency control dynamic
characteristics of governors should be very similar. The authors
suggest a new method for control of the output power of
generators using a necessary dynamic law. It allows ensuring
frequency and active power control in a mode, adaptive to the
operational conditions. Developed dynamic model was used for
analysis of frequency and active power behavior during
disturbances in the power system. Results of mathematical
modeling were compared with the field tests carried out at the
hydro power plant. Field tests proved effectiveness of suggested
new control method.
Index Terms -- dynamics, frequency control, governor,
mathematical modeling, testing.
I. INTRODUCTION
R ESTRUCTURING of the electrical industry and
transnational networks causes new technical and political
problems. Unification of Western and Eastern electrical
utilities forces to revise some technical aspects of the power
system control. Among other aspects there is the problem of
frequency and active power control. Principles of frequency
control in the Eastern European utilities and UCTE power
system were different. There is a trend to develop common
approach in that area. One of the main problems in the area of
frequency control is providing proper dynamics of frequency
and active power deviation. Improper selection of frequency
control characteristics for generators, participating in
frequency control, will lead to the swings of power among the
generators. UCTE requirements determine dynamics of the
primary control and, hence, power system frequency deviation
dynamics [1], [2]. The behavior of governor for each generator
is not specified. The paper deals with an analysis of the
frequency and active power deviation dynamics during turbine
governor action. The authors suggest a new control method,
which allows providing necessary deviation dynamics during
the frequency and active power control. Results of a
mathematical modeling of the active power control as well as
field test results of generator output power are presented in the
paper.
0-7803-7967-5/03/$17.00 ©2003 IEEE
II. PROBLEMS OF UNIFICATION OF THE WESTWRN AND EASTERN
ELECTRIC POWER SYSTEMS
After the breakdown of the former Soviet Union new
independent States were created with independent electric
utilities. Eastern European countries created joint power
system CENTREL that later was connected to the UCTE
system. The Baltic States utilities work in parallel with the
Russian and some other new independent utilities. There is a
trend to investigate possibility of unification of the Russian
power system with UCTE/CENTREL system.
The basic objectives of the UCTE or any other large
integrated power system is to obtain the best possible
utilization of power generating facilities mainly through the
exchange of electrical power and energy [3], [4]. Unification
means fulfillment of common technical requirements by all
power utilities of a joint power system. Frequency control
problem is one of the most important items to be discussed
before unification.
At a present moment UCTE frequency control approach
differs very much from frequency control principles of the
former Soviet Union’s Joint power system. UCTE power
systems developed common approach to the frequency control.
The differences are in parameters of electric power equipment,
main features of transmission network, quality of control and
standards. Besides, Western systems are more concentrated,
while Eastern systems have weak ties with some regions. The
first ties between Western and Eastern regions can be weak at
the beginning.
Common requirements were developed for the primary and
secondary frequency control of the joint power system [2], [4].
It is possible to accept common standards for quality of
control, but difference among power systems will exist. It will
influence problem of stability and quality of control.
The primary control of frequency in the Russian joint power
system has uncoordinated and random character [5]. Quality of
frequency control (frequency deviations and damping
frequency) in Western and Eastern power systems are different
too [6]. Droop of governor’s characteristics change in a range
of 7% to 30% for joint power system depending on the number
and structure of parallel operating generators. The secondary
control of frequency is used for provision of operational load
curves, keeping exchange of electrical power and energy and
automatic frequency control. Especially dedicated hydro
power plants are used for the fast frequency control.
 New requirements to the frequency control in joint power
system of Russia are now under consideration [5], [6].
III. DYNAMIC REQUIREMENTS TO ACTIVE POWER CONTROL
One of the main requirements to the primary control of
frequency and active power is uniform distribution of
generators involved into control process [2]. The more
generators will be involved in the frequency control process,
the more smooth frequency control process takes place. When
only selected number of generators participates in frequency
control, their dynamic characteristics should be very similar.
Generating units, participating in the primary and secondary
control, should fulfill dynamic requirements concerning the
time of active power deviation [2], [3]. Not identical dynamic
characteristics of control units can cause unnecessary power
swings among generating units or power plants.
The main dynamic requirement determines primary
frequency control activation time. The deployment time of the
primary control reserves of the various controlled areas should
be as similar as possible, in order to minimize dynamic
interaction of controlled areas. The primary control reserves
must be fully activated within 30 seconds. There was a
requirement to activate 50% of reserves in 5 seconds. Later
characteristic of activation reserves with respect to time was
accepted as linear law [2].
Coordination of dynamic characteristics of Western and
Eastern power systems can be provided not only by similar
dynamic characteristics of all generating units, but also by
providing required characteristics at the borders of controlled
areas independently on characteristics of generators inside the
area. Results of most theoretical investigations presented in
paper are associated with behavior of power and frequency at
the borders of controlled areas.
IV. NEW METHOD TO CONTROL THE OUTPUT POWER OF A
GENERATOR
The cause of research, carried out by the authors, was
desire of local electric power utility Latvenergo to investigate
dynamic features for existing turbine governors of the hydro
power plants of Latvenergo. The authors performed analysis of
operational conditions for Latvenergo electric power system.
The criterion for quality of control for analyzed equipment is
its ability to satisfy frequency and active power control
requirements.
The aim of investigation was to find a method for
increasing stability of frequency and active power control. The
authors suggest a new method for control of the generators
output power of using a necessary dynamic law. Advantage of
the new method is illustrated by comparison of the new and
conventional control methods.
Let us compare differences of two methods using as an
example active power’s variation process during the start of
a generator. Fig. 1 illustrates behavior of generator’s output
power during the start of generator at the Riga Hydro Power
Plant for the case when existent governor was in operation.
Test requirement was to adjust 50 MW of output power.
During the transient overshooting of output power up to 75
MW takes place. The reason was that normally parameters of
governor are adjusted for some average operational condition
and for extreme conditions parameters will not be optimal.
Fig. 1. Increase of active power during the start of generator
Active power variation character depends mainly on
parameters of the turbine governor. Conventional turbine
governors in general are control arrangements with a feedback
determined by position of a servomotor. Quality of the control
process depends on the number of parameters: value of the
water head, active power setting and governor’s feedback
parameters. Thus, for the same valve opening of a turbine an
output power of generator will be different for different levels
of the water head. The water head level is a variable quantity
and its measuring accuracy depends very much on the number
of neighbor generators in operation. Hence, output power
variation character is not stable and for some conditions
fluctuation during the change of output power are inevitable.
This is the main drawback of active power control with
conventional governor systems. There is a need in new control
methods, which are adaptive to a change of operation
conditions.
Control system will be adaptive to the change of
operational conditions in case when dynamic law is used for
control. The chapter describes suggested approach.
It is convenient to use phase plane for providing necessary
control dynamics [9]. For considered case it will be phase
plane dP/dt (rate of change of the output active power) as a
function of the active power P.
Fig.2 illustrates an example of a possible control
characteristic for control of output active power during the
start of a generator or frequency control. Suggested method
allows to control not only generator’s power, but also a rate of
power change.
During the start of the generator or frequency control
process a point at the phase plane can describe its operational
state with coordinates dP/dt and P. When change of the power
does not coincide with the control characteristic,
microprocessor-based turbine governor with the given control
characteristic should adjust output parameters. In case the
point, located below the control characteristic, describes
operational state, governor creates a signal to increase the
opening of the valve. It results in the water flow increase and
hence, increase of dP/dt value. When initial rate of change of
the output active power is larger than its setting (operational
point is above the operational characteristic), governor creates
signal to decrease water flow through a turbine.
Fig. 2. Possible control characteristic
The acceleration of the generator starts at point 0 (Fig.2.)
with no-load operational condition. Increase of the water flow
through the turbine results in increasing of the output power
until rate of change of power reaches the given setting
dP/dtSET. (Point 1). Then generator’s output power increases
with a constant speed (section 1..2). The closer is value PN to
the power setting, the slower is increase of the power (section
2..3). Adjustable section 3..4 characterizes dead zone ∆P of
the power control.
When active power exceeds setting value the state point
will be in the range of operational characteristic, described by
section 4...6. Here the rate of change of power is negative and,
hence, the control system will minimize the output power of
generator.
Fig. 3 represents an example of generator’s active power
behavior during the start of a hydro unit at Riga Hydro Power
Plant. Here initial setting of the rate of change of power was
assumed equal to dP/dt=1.5 MW/s and dead zone to ∆P=0.
Fig. 3. Active power behavior during the start of generator
Time diagram illustrates correspondence of the process to
the preset control characteristic. Approximately during 30
seconds the output power increases with a constant preset
value of dP/dt. Then the rate of change of power decreases and
the transient process becomes slower. The total time of the
process is about 35 seconds.
Suggested method ensures smooth variation of generator’s
power for any water head level and other operational
conditions. Some restraining should be taken into
considerations for parameters of control characteristic. It refers
to the maximal value of dP/dtSET setting and location of point 2
at the control characteristic. The maximal value of dP/dtSET is
limited by dynamic property of a water flow through the
turbine and by maximal allowed speed of a servomotor’s
movement for actuating mechanism of a turbine. To avoid
water hammer phenomenon a turbine valve should not be
opened too fast.
Slope 2-5 of control characteristic (Fig. 2) should not have
steep front. Due to inertial character of a turbine governor
result of input action appears with a time delay. Oscillations of
output power can take place in case slope 2-5 has a steep front.
Fig. 4 presents example of control characteristic with a steep
front of slope 2-5 and Fig. 5 illustrates an example of
generator’s active power behavior. Process is not stable and
harmonic oscillations of the output power of generator take
place.
Fig. 4. Control characteristic with a steep front
Fig. 5. Oscillations of active power during the start of generator
Suggested new control method can be used for control of
any type of generating unit for the hydro and steam operated
power plants.
V. MATHEMATICAL MODELING OF CONTROL PROCESS
Mathematical modeling of active power behavior was
carried out The new control method can find interesting
application for the primary and secondary frequency control in
the power system. Behavior of power and frequency at the
borders of controlled areas is considered as an example. The
worst case is frequency control of two power systems,
connected through the weak tie line.
Fig. 6 shows two power systems I and II connected by
transmission L with power flow PL. Each power system has
local load PI and PII. The modeling of frequency and active
power behavior were carried out for such system in case of
sudden disturbance. Frequency deviation takes place in both
power systems during the change of a system load. The
character of frequency deviation depends on the system
parameters and parameters of the turbine governors. When
parameters of both systems are different, instant values of
frequency during transients differ in system I and II. Hence,
control actions of governors in both systems are different too.
It causes unnecessary equalizing power flows through tie
transmission and, hence, deterioration or control quality and
system stability.
E I ⋅ E II
PL = ⋅ sin δ (2)
X∑
where EI and EII are the equivalent EMF of two power
systems;
XΣ is mutual impedance of two power systems;
δ is phase angle between the equivalent EMF.
The authors conducted modeling of dynamics of active
power behavior when generators were used for a primary
frequency control for different values of disturbances and
power system parameters. Output powers of each equivalent
generator, power flow through the tie line, instant values of
frequency in each power system and angle d were calculated.
Below results of analysis for few calculation cases are
presented.

Fig. 6. Power systems I and II connected via transmission line

The authors developed mathematical model for considered

case (Fig. 6). Each system was represented by an equivalent
generator and governor system for the hydroelectric unit.
Hydraulic parameters of the waterways are also taken into
account. During the analysis transient processes were
described by differential equations. Equations determine
deviation of control value during the disturbance. Results of
comparison of conventional control system and system with
new dynamic control is presented in this chapter.
Reaction of the system to a sudden change of a system load
was analyzed. The change of control reactions of the system
governors can be expressed as

PN
∆P = k ⋅ ∆f ; K = (1)
fN ⋅S
where ∆P is a change of control action;
∆f =f -fN is a frequency deviation from the rated value;
K is proportionality factor;
S is droop of governor.

Transient process was investigated for the case, when both Fig. 7. Transient process during the PI = 0,27 disturbance of the system
power systems I and II have equal generating capacity and the
1. Both power systems have generated capacity equal to 1 in
same system and governor parameters, same droop and load-
relative values. Load-damping factor for both system D=1.5.
damping factor. In this case systems are more sensitive to
Governor’s droop value is assumed 0.05. System loads are PI =
disturbance and there is more visual comparison of different
0.95 and PII = 1.05. Hence, there is a power flow PL = 0.05
control modes. Due to the different load at each system there is
from system I to system II. Maximal tie capacity was assumed
equalizing power flow through the transmission tie
equal to 0.1 in relative values. Parameters of both power
systems and governors are equal. The maximal possible
disturbance was considered – increase of the load PI = 0.27.
Fig. 7 illustrates time response of PL, δ and frequency values
for conventional control system and mentioned disturbance.
The main conclusions from analysis of considered case are:
• After disturbance during the transient process instant
values of frequencies in the power systems I and II are
different.
• Control response of both systems is absent during the first
1-2 seconds due to the water hammer phenomena.
• The differences of frequencies are the reason of different
control responses for both power systems. It causes damped
oscillation of tie power PL and angle δ. In considered case
peak angle δ varies from 30° to - 120° and tie line power PL
does from 0.05 to 0.1, which is equal to peak power capacity
of the tie line. Oscillation intensity is growing with reduction
of governor droop value.
Fig. 8. Transient process during the PII = 0,05 disturbance of the system
2. Possibility of violation of the system stability depends not
only on the value of disturbance but also on it’s location. Fig.
8 presents response of power PL, δ and frequency values for
increase of the load PII=0.05. In spite of the small value of
disturbance, compared with the first calculated case,
oscillation of the power is close to the peak value.
When two power systems have different generating unit and
governor parameters the transient process is more complicated.
3. Application of the new method for control of frequency
and active power in two power systems connected by weak tie
line was considered. Each generating unit, participating in
frequency control, should be equipped with suggested dynamic
control system (Fig. 2). Speed droop characteristic of a
governor determines necessary output power deviation ∆P for
the given deviation of a system frequency ∆f. This power
deviation is a control task for dynamic control system. The
new value of power is PN’=PN+∆P. Analysis of transient
processes was made for the same disturbances as for
conventional control systems. Calculation results showed that
for new control method transient process was much shorter,
with much smaller oscillation amplitude. Fig. 9 presents
comparison of angle δ behavior for conventional and new
control methods. System parameters are assumed similar as for
analysis of case 1. Increase of PII=0.085 was considered as
system disturbance. For the new control system transient
process of angle δ came to the end in 5 seconds. For
conventional control system transient process lasts almost 30
seconds.
Fig. 9. Comparison of transient processes character for conventional and new
control methods
VI. RESULTS OF A FIELD TEST OF THE RIGA HYDRO POWER
PLANT’S GENERATORS
Riga Hydro Power Plant is equipped with new
microprocessor-base governors, developed and implemented
by the authors. The field tests were conducted for investigation
of dynamic properties of the real generating unit. Besides, the
new control law and influence of governor’s feedback
parameters were investigated. The chapter describes results of
the tests.
The main aim of the field test was to make sure that new
control method is efficient and suitable for practical
implementation. Fig. 1 represents active power variation
process for conventional governor system. Fig. 10 illustrates
start of Riga Hydro Power Plant generator for similar
operational condition with new dynamic control method.
Initial rate of change of power is equal to 2.5 MW/s (section 1-
2 of Fig. 2). Point 2 of characteristic corresponds to 0.8 of PN,
and final setting is equal to PN=50MW. The fast and smooth
acceleration of power take place. Output power is steady and
equal to 50MW in 25 seconds.
Fig. 10. Increase of active power during the start of generator with new
governor
Fig. 11 shows output power response for the case when
control requirement is an increasing generator’s output from
50MW to 67MW and then restoring previous value. This test
proved ability of suggested dynamic control method to provide
power system frequency control
Fig. 11. The illustration of output power control
VII. CONCLUSIONS
1. Unification of electrical power systems causes necessity
in co-ordination of frequency and active power control
methods.
2. In two electric power systems, connected by weak tie
line, during the system disturbance:
• dynamics of transient processes is different;
• responses of governors are different;
• unnecessary fluctuations of power in tie line take place,
which reduce stability margin and quality of the transient
process.
3. There is a need in providing identical dynamic
characteristics for all units, participating in the frequency
control.
4. New method to control the output power of a generator is
suggested, that allows providing a necessary dynamic
characteristic of control.
5. Mathematical modeling and field tests of the active power
behavior showed efficiency of suggested method.
VIII. ACKNOWLEDGEMENT
The authors would like to thank the head of electrical
department at Riga Hydroelectric Power Plant Albert Nelson
and engineer Jury Kozlovski for the help during experimental
investigation.
IX. REFERENCES
[1] UCTE: Summary of the current operating principles of the UCTE. 1998.
[2] UCTE: Ground Rules concerning primary and secondary control
of.frequency and active power within UCTE. 1998.
[3] I. Biernacka, I. Radzio, “Supervision of the Application of
Rules.Concerning Primary and Secondary Control of Frequency in the
Interconnected Power Systems UCTE/CENTREL”, APE, Jurata, 2001.
[4] Problems of frequency control, Scientific Seminar, DC Baltia, Riga, 24
– 25 of May, 2001.
[5] J. N. Kucherov, A. F. Bondarenko, F. L. Kogan, L. N. Kasjanov, J. R.
Itelman, A. N. Komarov and G. S. Kiselev, “Technical aspects of
preparation for parallel operation of the Joint Power System of Russia
and Western power systems,” Elektrichestvo, Nr.1, pp. 19-29, 2000. (in
Russian).
[6] E. A. Marchenko, “Analysis of frequency fluctuations in Joint Power
System of Russia and Western power systems,” Elektrichestvo, Nr.2, pp.
2-7, 2001. (in Russian)
[7] Bujko J., Zielinski Z., Lipko A., “Adaptation of the National Power
System for Parallel Operation with the UCPTE Systems”, Energetyka,
Nr.3, March 1996, pp. 123-128, Poland (in Polish).
[8] Obolenski W., Wrona J., “The Secondary Control of Power and
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March 1996, pp. 133-136, Poland (in Polish).
[9] Gurov N., Chuvychin V., “Application of the phase plane method for
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X. BIOGRAPHIES
Vladimir Chuvychin (M’1979, SM’1990) was born in Moscow region,
Soviet Union, on January 17, 1941. He received diploma engineer degree in
1965, Candidate of Technical Science degree (Ph.D) in 1975 and Dr.habil.sc.
degree in 1997 from Riga Technical University, Latvia.
Since 1965 he is with Riga Technical University, Faculty of Electrical
and Power Engineering where is currently Professor and Vice Dean in
research affairs. He was a visiting Fulbright Scholar at the University of
Texas, Arlington, in 1990 and at the University of Washington, Seattle in
1994. His research interests include protective relaying and power system
automation and control. He holds many patents in this area.
Nikolaj Gurov (nonmember) was born in Russia on April 2, 1932. He
received diploma engineer degree in 1964, Candidate of Technical Science
degree (Ph.D) in 1974 and Doctor of Science in engineering degree in 1992
from Riga Technical University, Riga, Latvia. He is presently Principal
Researcher in the Faculty of Electrical and Power Engineering, Riga
Technical University, Riga, Latvia. His research interests include power
system emergency control and automation. He also holds many patents in this
area.
Andris Skutelis was born on December 18, 1976. He received his B.Sc.,
M.Sc. in Power Engineering from Riga technical university, Riga, Latvia in
1998 and 2001, respectively. Now he is Ph.D. student at the Faculty of
Electrical and Power Engineering. His research interest include control of
hydro power plants.
Vadims Strelkovs was born in Riga, Latvia, on May 28th, 1979. He
received bachelor’s degree in 2002 from Riga Technical University, Riga,
Latvia. He is currently graduated student, Faculty of Electrical and Power
Engineering and also a part time lecturer there. His research interests include
power system emergency control and automation as well as their
mathematical modeling.