Power system frequency is one of the key performance indices of system operation. Abnormal frequency deviations would incur negative impacts to power equipments and service quality. Thus, it is important to operate and regulate the system frequency within an acceptable range. North American Electric Reliability Corporation (NERC) has been using a Control Performance Standard (CPS) for frequency control performance assessment since 1997 which uses system frequency and inter--area power flow to evaluate the power system control performance. This thesis presents a design of CPS for isolated system and the results of Taiwan Power Company frequency control performance based on the proposed CPS1 formulation.

Petroleum Development Oman (PDO) and Oman Electricity Transmission Company (OETC) are running the main 132kV power transmission grids in the Sultanate of Oman. In the year 2001, PDO and OETC grids were interconnected with a 132kV Over head transmission line linking Nahada 132kV substation at PDO's side to Nizwa 132kV sub-station at OETC's side. Since then the power exchange between PDO and OETC is driven by the natural impedances of the system and the frequency and power exchange is controlled by manually re-dispatching the generators. In light of the daily load profile and the forecasted Gulf Cooperation Council (GCC) states electrical interconnection, it is a great challenge for PDO and OETC grids operators to maintain the existing operation philosophy. The objective of this research is to investigate Automatic Generation Control (AGC) technology as a candidate to control the grid frequency and the power exchange between PDO and OETC grid. For this purpose, a dynamic power system model has been developed to represent PDO-OETC interconnected power system. The model has been validated using recorded data from the field which has warranted the requirement of refining the model. Novel approaches have been followed during the course of the model refining process which have reduced the modelling error to an acceptable limit. The refined model has then been used to assess the performance of different AGC control topologies. The recommended control topologies have been further improved using sophisticated control techniques like Linear Quadratic Regulator (LQR) and Fuzzy Logic (FL). Hybrid Fuzzy Logic Proportional Integral Derivative (FLPID) AGC controller has produced outstanding results. The FLPID AGC controller parameters have then been optimised using Multidimensional Unconstrained Nonlinear Minimization function (fminsearch) and Particle Swarm Optimisation (PSO) method. The PSO has been proved to be much superior to fminsearch function. The robustness of the LQR, the fminsearch optimized FLPID and the PSO FLPID optimized AGC controllers has been assessed. The LQR robustness found to be slightly better than the FLPID technique. However the FLPID supercedes the LQR due to the limited number of field feedback signals in comparison to the LQR. Finally, a qualitative assessment of the benefits of the ongoing GCC interconnection project on PDO and OETC has been done through modelling approach. The results proved that the GCC interconnection will bring considerable benefits to PDO and OETC but the interconnection capacity between PDO and OETC needs to be enhanced. However, the application of AGC on PDO and OETC will alleviate the PDO-OETC interconnection capacity enhancement imposed by the GCC interconnection.

The total amount of frequency deviations have during the last decade increased exponentially in the Nordic synchronous power system. The transmission system operators have therefore decided to implement load frequency control as a new automatic control system to stem these frequency deviations. The aim of this feasibility study is to analyse the effects of an LFC implementation in Swedish hydropower stations by using a more dynamic river governing. The method chosen to analyse the effects of LFC-governing was to create a Matlab Simulink hydropower station library including dynamic modules for rivers and turbine governors. The library is then used to create a river reach that is implemented in an ENTSO-E model for the Nordic frequency reserves. The governing of the river uses economical dispatch theory to optimally distribute a LFC setpoint signal from the ENTSO-E model to the different hydropower stations. Results show that the developed method has a future potential to create more frequency controlled reserves. By creating a central governing unit it was possible to govern frequency controlled reserves over an entire river reach under certain scenarios, but there are still many obstacles to overcome before an actual implementation. The method does however show both the possibilities and drawback of frequency controlled reserves in cascade coupled hydropower systems.

A critical requirement of any remote microgrid is its capability to control the balance between electric generation and load within the confines of the microgrid itself. The integration of significant amounts of “as available” renewable generation to any electric grid (macro or micro) makes it more difficult to maintain this balance and can result in large frequency deviations on a microgrid. Ancillary services provide the resources required to maintain the instantaneous and ongoing balance between generation and load. Battery energy storage systems (BESS) can provide regulating reserves, a type of ancillary service, by modulating active power for frequency control, referred to as load frequency control (LFC), to reduce frequency deviations caused by sudden changes in renewable generation. Historically, the most common methodology for reducing frequency disturbances exacerbated by wind plants with BESS systems is ramp rate control and more recently lead compensation. This thesis proposed a modified lead compensator for use in microgrid applications. A PSS®E microgrid model, based upon existing validated models, was developed to test the effectiveness of the LFC controllers used to dispatch the BESS as a regulating resource to allow increased wind energy penetration levels on remote microgrids. A model of the remote microgrid of the island of Maui, Hawaii was chosen as the basis for the designs. Daily wind power data from 2012 was classified and indexed on an hourly basis by severity of variation. The worst hour for power variation from the wind plants was identified from this indexing and used as the basis for simulating the LFC controllers. The results compared the effectiveness of droop, ramp rate, lead compensation, and modified lead compensation controllers in reducing the variability in the grid frequency caused by changes in wind power generation. An RMS of variation with respect to an average over different time windows was used as the comparison metric. The combined modified lead compensator with ramp rate control showed the best performance of the overall system behavior. / text

This research focuses on frequency control ancillary services in large interconnected systems. It analyses and assesses possible alternatives for optimal and innovative solutions of major frequency control issues in large interconnected systems within liberalised electricity markets. Possible improvements in the performance of frequency control are identified. A framework of frequency control ancillary services in large interconnected systems by including loads and wind generation is also proposed.The research has been motivated by the paucity of research in power system dynamics focusing on large interconnected systems such as the European synchronous system and the Eastern interconnection which experience important frequency control challenges. These challenges include:- Decline in frequency response in the Eastern interconnection - Deterministic frequency deviations observed at the top of the hours in the European synchronous systemFrequency control issues became critical when electricity markets were deregulated and frequency control became an ancillary service with a decidedly commercial focus. This commercial focus has spawned a lot of work on frequency control markets and economics whereas not much research has been devoted to dynamic simulation of large interconnected systems. Apart from this commercial focus, frequency control in large interconnected systems is still based on historical practices mainly because changes suggested in the literature can be barely applied in large interconnected systems. This is essentially because dynamic simulation studies are uncorrelated with frequency control markets and economics. More specifically, dynamic studies do not take into account the characteristics of each reserve activated and also the way the reserve is activated. With the deregulation of the electricity market, reserve is considered as a product and not necessarily a response provided by a unit. The main objectives of this research therefore are to solve critical frequency control issues in large interconnected deregulated electricity systems, which may present potential economic benefits. To achieve these objectives, frequency control in large interconnected systems is studied by considering on one hand frequency control theory and on the other hand its implementation in practice taking account of frequency control ancillary service markets as well as the economics and practical consequences of frequency control. This approach is necessary to accommodate the future evolution of frequency control in large interconnected systems. The proposed approach is illustrated through a model of frequency control in the European synchronous system, where practices are better known, are clearly standardised and also where frequency data has been obtained.

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The demand for electricity is rising rapidly, with more power generated through re-newable energy sources. Renewable energy sources can fluctuate in their power output atshort notice, making it more difficult to maintain the balance between electricity consump-tion and production in the short term. A solution that has gained increased interest recentlyis to connect battery energy storage systems to the grid as a means of maintaining balance.However, such systems are often controlled remotely by a cloud control system, creatingtime-critical control loops over the internet that are partly responsible for the stability andcontinued function of the electrical grid. Cyberattacks against these closed-loop systemscould devastate the electrical grid and the apparatus connected to it.In this thesis, a reference model is designed for an electrical grid load-balancing cloudcontrol system connected to remote battery energy storage systems and remote grid fre-quency sensors (measuring the balance between production and consumption). The modelis evaluated from a cybersecurity perspective by implementing a simulator and applyingdifferent cyberattacks on the simulated system.The results show that some of the most critical attack methods that a threat actor couldutilize are: disrupting the connections over the internet that are part of the closed-loopsystem, abusing remote access links from the outside to gain access to subsystems (suchas seizing control of batteries), or disturbing external dependencies to the cloud such asdomain name system (DNS) and network time protocol (NTP) servers or the contractsrelated to electricity trading. The most important cyberattacks identified in the thesis are:time delay switch (delays of messages), denial of service (disturbing message availability),false data injection (modifying message contents), replay (replaying old messages), andload altering (affecting the grid balance through direct altering of electricity consumptionand production).The simulated cyberattacks differ in how they affect the grid frequency, i.e. the gridproduction-consumption balance. Large enough network packet delays caused oscilla-tions in the simulated frequency. Denial of service attacks caused unpredictable behavior,and a high enough packet drop rate caused oscillations. For false data injection, the re-sults depend on which internet link was attacked and what injection strategy was used;some attacks caused oscillations, while others caused a steady state error or even an in-creasingly deviating frequency. Replay attacks were able to cause a deviation during thereplay window when used effectively. Finally, large enough load altering caused oscilla-tions, especially when an attacker had control over at least 15% of the system’s balancingpower.Overall, attacks on the simulated system are serious and precautions must be carefullyconsidered before such a system is implemented in the real world.

La qualité d’un réseau électrique se mesure notamment par sa résilience, à savoir sa capacité à continuer de fournir, de façon stable, une électricité de qualité malgré les incidents. Cette continuité d’alimentation est notamment assurée par le réglage de la fréquence, ce dernier faisant office de moyen de coopération entre les différentes sources du réseau. Les travaux de cette thèse étudient en profondeur les différentes façons d’assurer ce réglage de la fréquence sur des microréseaux alternatifs îlotés au regard des problématiques nouvelles : intégration croissante de sources d’énergie renouvelables intermittentes et baisse (voire disparition) de l’inertie inhérente aux groupes synchrones tournants. L’objectif principal est de proposer un ensemble de modèles analytiques permettant d’appréhender le comportement dynamique de la fréquence et des puissances actives transitant sur un microréseau, quelle que soit la topologie de ce dernier, afin de constituer une aide au dimensionnement. À cet objectif global s’ajoute un certain nombre de sous-objectifs qui structurent et guident l’ensemble des travaux :- Un objectif pédagogique : les couplages entre l’équilibre des puissances actives et la fréquence sur un réseau alternatif sont clairement explicités, que ces couplages relèvent de la structure et des paramètres physiques du microréseau ou qu’ils soient liés aux lois et paramètres de commande. La lecture des modèles doit ainsi permettre de comprendre analytiquement les différents liens de cause à effet entre les paramètres du système, la fréquence et les puissances,et les spécificités propres à chaque topologie de microréseau.- Un objectif de simplicité et de modularité : les modèles proposés doivent pouvoir être adaptés selon les cas particuliers de topologies, afin que tout lecteur puisse les réutiliser facilement en dehors du cadre de cette étude. Pour ce faire, ces travaux utilisent des modèles mathématiques sous forme de schémas blocs, intégrables sous Matlab.- Enfin, un objectif de modélisation « grand signal » : pour trancher avec l’approche petit signal de beaucoup de modélisations de microréseaux classiques, et pour permettre d’appréhender le comportement du microréseau sur une large plage de déséquilibre de puissance / The quality of an electricity grid is measured by its resilience, namely its ability to continue to provide electricity despite the incidents. This continuity of supply is ensured by the frequency control, acting as a means of cooperation between the different sources of the grid. This thesis examines in depth the different ways to ensure this frequency control on stand-alone microgrids with regard to new issues: increasing integration of intermittent energy sources and decreasing (or disappearing) of the synchronous rotating groups with their inertia. The main objective is to propose a set of analytical models explaining the dynamic behavior of the frequency and the active powers transiting on a microgrid, whatever the topology, in order to constitute an aid to the sizing. To this overall objective is added a number of sub-objectives that structure and guide this work:- An educational objective: the nature of the link between the balance of active powers and the frequency on an AC microgrid is clearly explained, whether this link is based on physical parameters or is related to control laws. The goal is to understand the different links of cause and effect between the paramers of the system, the frequency and the active power and thespecificities to each topology of microgrid. - An objective of simplicity and modularity: the models proposed must be adaptable to particular cases, so that any reader can reuse easily outside the scope of this study. To do this, mathematical models in the form of block diagrams which can be integrated in Matlab are used. - Finally, a "big signal" simulation objective: to decide with the small signal approach of many traditional microgrid models, and to make it possible to understand the behavior of the microgrid over a wide range of power imbalance.

The Turkish TSO (TEIAS) has been leading a project that aims the synchronous interconnected operation of the Turkish Power System and the ENTSO-E CESA (former UCTE) System. For this purpose, this study concentrates on the specific problems related to the electromechanical systems of large size hydroelectric power plants regarding low frequency inter area oscillations, which are prone to occur once the interconnected operation is established. The expected frequency of inter area oscillations after interconnected operation is close to 0.15 Hz, which is in the frequency range of the speed governing structures of turbines, as explained in the first two sections of the thesis. In the third section, the nonlinear turbine governor model used throughout the study is explained. In the following part, the governor parameter tuning study with regard to the defined performance objectives is explained. Afterwards, the effect of the retuned governor settings of the sample hydroelectric power plants on a simple multi machine power system is shown. Following that, the system wide effect of removing the sources of negative damping, which are strongly dependent on the governor settings of the major hydroelectric power plants of the Turkish Power System, is shown. In the final part, conclusions are made on the operation of the hydroelectric power plants regarding the frequency stability of the system after synchronous interconnected operation of the Turkish Power System and the ENTSO-E CESA System.

The purpose of this paper is to show that the software ScicosLab can be used as an interesting and effective computational tool to analyze the automatic generation control of electric power systems. Firstly it is presented the software and, afterwards, the concepts and definitions of rotational movements in order to develop mathematical models for the generators equipped with steam turbines or hydraulic turbines and speed governors, and for their electrical loads. For the studies it is used a system comprised by two distinct interconnected areas where a load increase in one area is simulated without/with the tieline, ignoring, and then considering the primary and supplementary controls. Finally, it is analyzed a more realistic system with three distinct areas extracted from the Brazilian power system. The computational results show graphically the variations of the two main quantities of interest: the frequency of each area of the system and the tieline power. These quantities allow the evaluation of the system behavior after a disturbance that affects the generation-load balance. Within the above context, it is verified that the ScicosLab computer package effectively models and simulates the load-frequency control of power systems, qualifying, therefore, as an excellent alternative to replace any similar program which requires license payment. / A proposta deste trabalho é mostrar que o software ScicosLab pode ser utilizado como uma ferramenta computacional, interessante e eficaz, para analisar o controle automático de geração de sistemas elétricos de potência. Inicialmente é apresentado o software e, em seguida, os conceitos de movimentos rotativos que permitem desenvolver os modelos matemáticos para os geradores equipados com turbinas a vapor ou hidráulica e reguladores de velocidade, e para suas cargas elétricas. Para possibilitar os estudos é utilizado um sistema constituído por duas áreas distintas interligadas, onde é simulado um aumento de carga em uma destas áreas, sem e com a linha de interligação, desconsiderando e, em seguida, considerando os controles primário e suplementar. Finalmente, analisa-se um sistema mais realístico com três áreas distintas extraído do sistema elétrico brasileiro. Os resultados computacionais mostram graficamente as variações das duas principais grandezas de interesse: a frequência de cada área do sistema e a potência da linha de interligação. Estas grandezas permitem avaliar o comportamento do sistema após uma perturbação que afeta o balanço geração-carga. Considerando o exposto acima, constata-se que o pacote computacional ScicosLab modela e simula eficazmente o controle carga-frequência de sistemas elétricos de potência, qualificando-se, portanto, como uma excelente alternativa para substituir qualquer programa similar que exige pagamento de licença. / Mestre em Ciências