1
-
LFCAGC
LFC
3LFC
LFC
-
PI
PI
LFC
MPC4
MPC
1 Load Frequency Control 2 Automatic Generation Control 3 tie-line power flows 4 Model Predictive Control
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LFCAGC
-
-
1Load Frequency Control
2Automatic Generation Control
3primary frequency control
4supplementary frequency control
5speed governor
6hydraulicamplifier
7speed changer
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N
δ
δ
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(δ
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Δ Δ Δ
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MPC
-
-
],[ 21 NN1N-
2N
2N
4Prediction Horizon
5Moving Horizon
6Short Horizon
7Receding Horizon
8 Infinite Horizon
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uN
uN
uN
1uN
CVMPC
MVMPC
DV-
MPC
MPC
9Control Horizon
10Controlled variable
11Manipulated Variable
12Disturbance Variable
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MPC
MPC
MPC
15
First-Principle Model 16
Empirical Model 17
Quadratic Norm 18
Soft Constraint
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QR
MPC
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19
Hard Constraint
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MPC
MPC
MPC
MPC
pH
NMPC
NMPC
-
20
Batch Process 21
Nonlinear Model Predictive Control
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PI
PILMIGALMI
ILMIPI
PI -
PI
-
PI
MPC
PI
PI
1 Genetic Algorithms
2 Linear Matrix Inequalities
3Iterative Linear Matrix Inequalities
4 Identification Toolbox
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PI
0.0371 0.04650.0380
-0.2339-0.2672-0.3092
PIΔPL1 =
100 MW (0.1 p.u.)ΔPL2 = 80 MW (0.08 p.u.)ΔPL3 = 50 MW (0.05 p.u.)
Δf-
0 2 4 6 8 10 12 14 16 18 20-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
D f (
Hz)
0 2 4 6 8 10 12 14 16 18 20
0
0.05
0.1
D P
c (
p.u
.)
Time(Sec.)
MPC
Robust PI
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PI
PI
0 2 4 6 8 10 12 14 16 18 20-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
D f (
Hz)
0 2 4 6 8 10 12 14 16 18 20-0.02
0
0.02
0.04
0.06
0.08
D P
c (
p.u
.)
Time(Sec.)
MPC
Robust PI
0 2 4 6 8 10 12 14 16 18 20-0.1
-0.08
-0.06
-0.04
-0.02
0
D f (
Hz)
0 2 4 6 8 10 12 14 16 18 20
0
0.02
0.04
0.06
D P
c (
p.u
.)
Time(Sec.)
MPC
Robust PI
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ΔPL1 = 100 MW (0.1 p.u.)ΔPL2 =ΔPL3 =
-
PI
0 2 4 6 8 10 12 14 16 18 20
-0.1
-0.05
0
D f (
Hz)
0 2 4 6 8 10 12 14 16 18 20
0
0.05
0.1
D P
c (
p.u
.)
Time(Sec.)
MPC
Robust PI
0 2 4 6 8 10 12 14 16 18 20
-0.1
-0.05
0
D f (
Hz)
0 2 4 6 8 10 12 14 16 18 20
0
0.05
0.1
D P
c (
p.u
.)
Time(Sec.)
MPC
Robust PI
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PI
PI
0 2 4 6 8 10 12 14 16 18 20
-0.1
-0.05
0
D f (
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0 2 4 6 8 10 12 14 16 18 20
0
0.02
0.04
0.06
0.08
0.1
D P
c (
p.u
.)
Time(Sec.)
MPC
Robust PI
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Autho
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FINAL REPORT OF RESEARCH PROJECT
Faculty:Engineering
Department: Electrical Engineering
Title: Load-frequency predictive control of power systems
By: Qobad Shafiee
Coworker: Hassan Bevrani
Aproval Date: 24 May 2009
Date of final: 15 June 2010 Autho
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