PID-controller AVR

ARV-M excitation regulator.

blockType: SubSystem

Path in the library:

/Physical Modeling/Electrical/Control/SM Control/PID-controller AVR

Description

Block PID-controller AVR It is an excitation regulator that implements the proportional-integral-differential voltage control law of the generator according to the following parameters:

Voltage deviation from the setpoint;
Rate of voltage change;
Deviation of the voltage frequency from the nominal;
Rate of voltage frequency change;
The rate of change of the excitation current.

Block PID-controller AVR It can be used as an excitation regulator in a synchronous generator model with a control system, which is shown in the diagram.

p controller avr 2

Mathematical model PID-controller AVR shown in the diagram.

pid controller avr 1

On the presented diagram

— generator stator voltage;
— the value of the voltage setpoint;
— the reactive current of the generator stator;
— the proportion of transformer reactance compensation;
— frequency deviation of the generator voltage;
— rotor current;
— gain factors in voltage regulation and stabilization channels.

Ports

Entrance

# I_reactive — input value of the generator’s reactive current

+ scalar

Details

The input value of the generator’s reactive current in relative units.

Типы данных	`Float64`
Support for complex numbers	None

# V_ref is the input value of the generator voltage setpoint

+ scalar

Details

The input value of the generator voltage setpoint in relative units.

Типы данных	`Float64`
Support for complex numbers	None

# I_fd is the input value of the excitation current

+ scalar

Details

The input value of the excitation current from the generator in relative units.

Типы данных	`Float64`
Support for complex numbers	None

# Δf is the input value of the deviation of the generator voltage frequency from the nominal

+ scalar

Details

The input value of the deviation of the generator voltage frequency from the nominal value in relative units.

Типы данных	`Float64`
Support for complex numbers	None

# V_d is the input voltage value of the generator along the d axis

+ scalar

Details

The input voltage value of the generator along the d axis in dq0 coordinates in relative units.

Dependencies

To use this port, check the box Enable d-q voltage ports.

Типы данных	`Float64`
Support for complex numbers	None

# V_q is the input voltage value of the generator along the q + axis scalar

Details

The input voltage value of the generator along the q axis in dq0 coordinates in relative units.

Dependencies

To use this port, check the box Enable d-q voltage ports.

Типы данных	`Float64`
Support for complex numbers	None

# V is the full input voltage of the generator

+ scalar

Details

The total input voltage of the generator in relative units.

Dependencies

To use this port, uncheck the box. Enable d-q voltage ports.

Типы данных	`Float64`
Support for complex numbers	None

Output

# V_r is the output voltage value of the automatic excitation regulator

+ scalar

Details

The output value of setting the voltage of the automatic excitation regulator in relative units.

Типы данных	`Float64`
Support for complex numbers	None

Parameters

Main

# Voltage error gain K0v — voltage deviation channel gain

Details

The gain factor for the voltage deviation channel.

Default value	`50.0`
Program usage name	`K0_v`
Evaluatable	Yes

# Voltage derivative gain K1v — Voltage change rate channel gain

Details

The gain factor for the voltage change rate channel.

Default value	`5.0`
Program usage name	`K1_v`
Evaluatable	Yes

# Field current derivative gain K1Ifd — gain factor for the channel of the rate of change of the excitation current

Details

The gain coefficient along the channel of the rate of change of the excitation current.

Default value	`5.0`
Program usage name	`K1_I_fd`
Evaluatable	Yes

# Frequency error gain K0f — the gain factor for the voltage frequency deviation from the nominal value

Details

The gain factor for the channel deviation of the voltage frequency from the nominal.

Default value	`2.0`
Program usage name	`K0_f`
Evaluatable	Yes

# Frequency derivative gain K1f — Voltage frequency change rate gain channel

Details

The gain factor over the voltage frequency rate channel.

Default value	`5.0`
Program usage name	`K1_f`
Evaluatable	Yes

# Voltage derivative time constant T1, s — The delay time constant of the oscillator voltage change rate channel

Details

The delay time constant of the oscillator voltage change rate channel, in seconds.

Default value	`0.06`
Program usage name	`T1`
Evaluatable	Yes

# Frequency error time constant T2, s — the delay time constant along the voltage frequency deviation channel from the nominal value

Details

The delay time constant along the voltage frequency deviation channel, in seconds.

Default value	`2.0`
Program usage name	`T2`
Evaluatable	Yes

# Frequency derivative time constant T3, s — time delay constant of the voltage frequency change rate channel

Details

The delay time constant of the voltage frequency change rate channel, in seconds.

Default value	`0.05`
Program usage name	`T3`
Evaluatable	Yes

# Frequency time constant T4, s — the delay time constant along the voltage frequency deviation channel from the nominal value

Details

The delay time constant along the voltage frequency deviation channel, in seconds.

Default value	`0.02`
Program usage name	`T4`
Evaluatable	Yes

# Field current derivative time constant T5, s — channel delay time constant of the rate of change of the excitation current

Details

The time constant of the delay channel of the rate of change of the excitation current, in seconds.

Default value	`0.15`
Program usage name	`T5`
Evaluatable	Yes

# Integrator time constant T6, s — the delay time constant of the common ARV channel

Details

The delay time constant of the common ARV channel, in seconds.

Default value	`0.5`
Program usage name	`T6`
Evaluatable	Yes

# Time delay branch magnitude voltage T7, s — the time of net delay over the oscillator voltage rate channel

Details

The time of the net delay along the channel of the rate of change of the generator voltage, in seconds.

Default value	`0.02`
Program usage name	`T7`
Evaluatable	Yes

# Time delay branch field current T8, s — the time of net delay over the channel is the rate of change of the excitation current

Details

The net delay time over the channel is the rate of change of the excitation current, in seconds.

Default value	`0.02`
Program usage name	`T8`
Evaluatable	Yes

# Time delay branch frequency voltage T9, s — time of net delay over the voltage frequency rate channel

Details

The time of net delay over the voltage frequency rate channel, in seconds.

Default value	`0.05`
Program usage name	`T9`
Evaluatable	Yes

# Сompensated transformer resistance Xcompounding, pu — the reactance of the transformer, compensated by the regulator

Details

The reactance of the transformer, compensated by the regulator, is set in relative units.

Default value	`0.0`
Program usage name	`X_compounding`
Evaluatable	Yes

# Integrator branch limits [Vmax Vmin], pu — limits of the output value of the integrating branch

Details

The maximum and minimum output values of the integrating branch in relative units.

Default value	`[1.2 0.2]`
Program usage name	`integrator_branch_limits`
Evaluatable	Yes

Voltage Ports

# Enable d-q voltage ports — activation of generator voltage input ports along the d and q axes

Details

If this option is selected, the unit uses the input ports V_d and V_q If unchecked, instead of the d- and q-components, the unit uses port V to transmit the full voltage value.

The checkbox is checked by default.

Default value	`true (switched on)`
Program usage name	`enable_d_q_voltage`
Evaluatable	Yes

Initial Values

# Initial condition of the regulator voltage, pu — the initial value of the voltage regulator

Details

Desired output value V_r of the voltage regulator at the beginning of the simulation, in relative units.

Default value	`1.0`
Program usage name	`voltage_regulator_start`
Evaluatable	Yes

Machine Initial Values

# Initial condition of terminal voltage magnitude, pu — the initial value of the voltage at the terminals of the generator

Details

The value of the voltage from the terminals of the generator that will arrive at the port V (RMS V_d, V_q) at the initial moment of the simulation, in relative units, to obtain the desired initial value of the output V_r of the regulator.

Default value	`1.0`
Program usage name	`V_mag_start`
Evaluatable	Yes

Literature

A.A. Yurganov, V.A. Kozhevnikov. Regulation of excitation of synchronous generators.
V.P. Shoiko. Automatic regulation in electrical systems.

Examples

Single-pole generator with regulators