ISOCHRONOUS LOAD SHARING PRINCIPLES FOR AN ISLANDED SYSTEM

WITH STEAM AND GAS TURBINE GENERATORS

Copyright Material IEEE
Paper No. PCIC-2017-44

Krishnanjan Gubba Ravikumar Brandon Bosley Ty Clark Julio Garcia

Senior Member, IEEE Kiewit Engineering & Member, IEEE Kiewit Engineering &
Schweitzer Engineering Laboratories, Inc. Design Co. Dominion Design Co.
2350 NE Hopkins Court 9401 Renner Blvd. P.O. Box 6090 9401 Renner Blvd.
Pullman, WA 99163 Lenexa, KS 66219 Glen Allen, VA 23058 Lenexa, KS 66219
USA USA USA USA
krishnanjan_gubba_ravikumar@selinc.com brandon.bosley@kiewit.com ty.clark@dom.com julio.garcia@kiewit.com

A bstract - A liquefied natural g as facility in the United expansion will add to the system two generators that are
States is being expanded to allow liquefaction of natural gas driven by high-speed steam turbines equipped with gears.
and export of liquefied natural g as while keeping intact the The new expansion will also add one 26 MW and two 20 MW
existing import facilities. This means adding more loads and variable frequency drive (VFD) operated motors. Fig. 1 shows
steam-based generation to the existing gas turbine generator a simplified one-line diagram of the facility power system
portfolio. The upgraded system will feature six g as turbine without any load representation.
generators and two steam turbine generators in an islanded
plant with no grid connection. This paper reveals the II. GENERATION CONTROL SYSTEMS
fundamentals of how the plant performs isochronous load
sharing in an islanded power system with various makes and The objective of a GCS is to maintain the system frequency
sizes of generators (steam and g as turbines). The paper and voltage during everyday operations and to provide
details the decentralized generation control system interface support during system events. A GCS combines low- and
methodology with automatic speed governors and voltage high-speed functions to ensure safe and optimal control of the
regulators. It also presents some topics that are crucial for machines in order to maintain system stability. Control
industrial power systems, especially in islanded functions such as base loading, droop control, and
configurations, a s well as the transient simulations performed isochronous load sharing allow the GCS to maintain and
in a controlled lab environment to analyze system stability and regulate frequency for any planned or unplanned system
help finalize the generator modes of operation. events. Similarly, functions such as voltage control, power
factor (PF) control, and volt-ampere reactive (VAR) sharing
Index Terms — Generation control system, isochronous allow proper regulation of reactive power within a system.
load sharing, frequency and voltage stability, automatic Compared with larger grids, islanded power systems require
synchronization, island tracking, islanded power systems. relatively faster-acting control systems during system events
to compensate for the reduced overall system inertia. Fig. 2
I. INTRODUCTION shows a high-level architecture and distributed controller
connections in a case with two steam turbine generators
One of the key requirements for islanded power system (STGs).
stability is the ability to monitor and control all of the
generators to maintain voltage and frequency. Generation A. Frequency Control System
control systems (GCSs) typically perform slow- and high-
speed rebalancing actions, depending on the control objective A frequency control system (FCS) regulates the generators
to maintain the system frequency when an accelerating or
[1]. This paper discusses a decentralized (distributed) GCS
applied to an islanded power system with a mix of steam and decelerating torque develops. Such torque develops during a
machine step load response for either accepting or rejecting a
g as turbine generators from various manufacturers.
The existing facility features six g as turbine generators change in load. Such torque also develops during or after
(GTGs) in an islanded configuration with no grid connection. system events (e.g., faults, unexpected load/generation trips).
Five of the GTGs are from the sam e manufacturer with Fig. 3 shows the frequency, electrical power, and
mechanical power responses of an industrial frame turbine
different ratings. All the GTGs operate at 13.8 kV nominal
voltage and can operate in an isochronous load sharing and generator for a small load step response [2]. It shows the
mode. The plant also has four synchronous motors. A new step change in electrical power along with the time lag
between the generator and turbine output.

978-1-5090-5877-8/17/$31.00 © 2017 IEEE - 405 - CFP17PCI-PRT

 GTGs GTGs STGs GTG

STG-A STG-B The basic underlying equation that relates mechanical

power, electrical power, and speed is a s follows:
dW
JW s ^ f = pa = pm - pe ( 1)

where:
J is the combined moment of inertia of the generator
and turbine (kg · m2).
W s is the synchronous angular velocity (rad/s).
Wm is the rotor angular velocity (rad/s).
t is time (s).
Pa is accelerating power (W).
Pm is mechanical power (W).
Pe is electrical power (W).
A typical FCS operates on a proportional megawatt-sharing
---- Communications Cables
philosophy and tries to maintain all units within their
respective capability curves. The generators within the facility
Fig. 2 High-Level Architecture of Distributed Controllers in a operate in two out of three available frequency control modes.
Two-Generator C ase 1) Isochronous Load Sharing: In isochronous load
98 63 sharing mode, all the generators within the plant are set to
Mechanical Power isochronous mode on their speed governors. Using a common
97 --6 2 communications backbone, the distributed controllers
Electric Power • \ / '
96 connected in the island exchange information and regulate the
-- 61
generators to maintain frequency during load unbalances. In
95
/ Speed = Frequency _ - addition to maintaining the frequency, the controllers also
94
F .
--5 9
perform proportional real power sharing between the units
based on their rated MW capacity.
93

92
1 --5 8
The regulation at each unit is performed by biasing the
speed governor using a control signal (typically an analog
91 57 bias). This bias adds or subtracts into the speed reference
10 15 20 (nominal speed) of the governor control itself. The response of
Time (s)
the bias signal is defined by a proportional-integral-derivative
Fig. 3 Small Load Synchronous Machine Step Response (PID) control that exists within the GCS controller.

- 406 -
 Fig. 4 shows the integration of the bias signal into a typical Isochronous load sharing between multiple units provides
governor control block diagram. the ability to reject frequency disturbances and to actively
share the load. In cases with fast-acting speed governors that
operate in isochronous load sharing mode, generator
shedding schem es can mostly be eliminated, assuming the
generators have enough head room to swing.
2) Droop Control: For stable load sharing between
multiple units paralleled to strong sources, droop-based
control allows multiple units to operate in parallel by
decreasing their speed for increases in load. Droop control is
typically observed in units that are paralleled to utility grids. In
islanded power systems, droop-only control (without
isochronous operation) is not recommended because of its
inability to actively maintain the system frequency during
system events. It is important to note that droop-only control
can be allowed where a system such a s a GCS is available to
Fig. 4 Block Diagram of an Isochronous Governor With provide functionality similar to an isochronous control.
Integrated Speed Bias (analog bias input) 3) B ase Loading: Base loading is performed on a
The conditioner block is used to limit and scale the bias for generator to follow a preset MW command. This is sometimes
use in the governor control system. The speed bias integrator referred to a s “maintained mode,” where the operator
time constant, limits, and gain are field-tunable parameters for requests a certain output from a few generators while others
obtaining the desired response from the machine. provide regulation using droop and/or isochronous controls.
Fig. 5 shows a high-level block diagram of the frequency Generators are typically maintained when they are paralleled
control function within the distributed controller. Depending on to the utility, when they have smaller ratings, or when they do
the type of control selected, different logic is activated along not have the built-in ability to assist with primary frequency
with the PID loop. regulation.
Fig. 7 shows the response of an STG for different base load
I Load Sharing Logic] transitions. Starting at 37 MW, the machine is stepped
>Control through various set points, and the figure shows the response
Power of the speed bias signal, generator frequency, and active
Control Logic
power response.
PID Loops* - Bias Signal
Frequency Control
Control Logic *Different PID loops are activated B. Voltage Control System
based on the type of control
A voltage control system (VCS) dispatches exciter set
Fig. 5 High-Level Block Diagram of an Individual points among a group of generators to maintain the terminal
Distributed Controller bus voltages within acceptable limits [1]. The VCS at this
Fig. 6 shows single-unit isochronous governor regulation for facility is implemented within the sam e distributed controllers
different bias conditions. During a control situation, the GCS used for the FCS. Similar to an FCS, a VCS issues control
dynamically calculates the bias set points for each generator signals to every generator to keep them running at the desired
before dispatching controls. These set points change megavolt-ampere reactive (MVAR) output level. Even though
dynamically a s the system adjusts to a newer settling state the external interface between the VCS and the generator
after a disturbance of the equilibrium. exciter consists of raise and lower control signals, there can
be different control inner loops within the VCS. For example,
i Positive Bias
----------------- 1---
---------------------------- Γ
during an islanded situation, the VCS implements a generator
1 1 voltage control inner loop to maintain the island bus voltages
1 1
1 1
100% I No Bias
rather than implementing a VAR control loop to maintain a
---------------- 1------------------ 1--- fixed VAR output. Similar to isochronous operation for
1 1
1 1
1 1 maintaining system frequency, a VCS is required to keep at
¡ Negative Bias ¡
1 1 least one unit (if not more) to maintain and regulate the bus
1 1
1
1
1
1 voltages.
1 1
1 1 A typical VCS operates on a proportional MVAR-sharing
1 1
50% 1 100% I philosophy and tries to maintain all units within their
1 I
1 I respective capability curves. The generators within the facility
Load operate in two different voltage control modes.

Fig. 6 Single-Unit Isochronous Governor Regulation

With GCS Bias

407 -
 O

O 4.7 9.4 14.1 18.8 23.5 28.2 32.9 37.6 42.3 47

Time (minutes)

Fig. 7 Base Load Tests on a Single STG Model Using Real GCS Controller Equipment

1) Voltage Control With VAR Sharing: In this mode, the recommended when there are other machines available to
primary objective of the VCS is to maintain the bus voltages at provide voltage support and balance the system reactive
each generator terminal and to proportionally share the MVAR power needs.
based on the unit ratings. The distributed VCS dynamically The control loop parameters for achieving the desired PF
calculates the individual set points for each excitation system are separate from the voltage control parameters. This way,
and biases the excitation reference to achieve the desired set two independent loops are established and tuned for fast-
point. Fig. 8 shows the interfacing of the bias (raise/lower acting and slow-acting controls.
pulses) with a typical generator excitation system. When the
bias signal is an analog input, the interface is similar to what is C. Island Tracking System
shown in Fig. 4.
Controlling multiple generators within an island requires a
smart island tracking system to correctly enable the control
modes on the governors and exciters. Island detection is
traditionally performed by tracking the system topology using
breaker statuses (52A and 52B). In this application, these
Z 3- statuses are brought into a centralized location to properly
identify islands and to update the distributed controllers. When
CD-I provided with such information, the controllers correctly
identify the groups of generators that need to be controlled in
every island.

D. Synchronization System

The distributed GCS controllers within the plant provide the

ability to synchronize across individual generator breakers
and some of the critical tie breakers. Breaker closing and
generator control for synchronization are performed
automatically after the user selection and initiation [3]. This is
Fig. 8 Block Diagram of an AC Exciter With Integrated an important function to help the plant successfully reconnect
Voltage Bias (digital bias input) because the islanded plant itself can get further segregated
into subislands following particular events or even during
2) PF Control: In this mode, every distributed controller
normal operating conditions. After the events are cleared and
follows the operator set point on a per-machine basis. This the islands are stabilized, the automatic synchronization
mode is typically used when the generator is in parallel with system can control the governor and exciters automatically to
the utility and needs to maintain its power factor throughout
match the phase, voltage, and frequency error between the
the real power operating range. During PF control, the islands. Once the closing criterion is met (along with the
controller does not try to maintain the bus voltage and does availability of operator permissives), the controller that has
not need to exchange information with the rest of the
access to the generator breaker provides the close command.
controllers because no sharing is occurring. This mode is only

- 408 -
 III. COMMUNICATIONS ARCHITECTURE
Modern power management systems are a complete
integration of protection, control, and automation devices [1].
G C Ss are no different when it comes to how to monitor and
control generators. Communications play a vital role in both
centralized and decentralized architectures. Because of the
necessity of measuring local quantities and making a wide-
area decision, various intelligent electronic devices (lEDs)
send measurements to a centralized controller, or controllers
located at the generators constantly exchange critical
information pertinent to each generator. Because of the
criticality of the application, such communications networks
need to be dedicated and isolated from noncritical traffic in
order to avoid network overloads, lost data packets, and
failure [4]. Dedicated bandwidth is crucial for guaranteeing
round-trip times for high-speed functions [5].
The facility applies a distributed GCS with controllers
located at each generator. These controllers are connected
via copper Ethernet connections to local managed Ethernet Bias Signals
switches within the substations. The substations are further
connected via a combination of single-mode and multimode Fig. 9 Block Diagram of the Simulator Testing Setup
fiber connections to form an isolated, star-connected network. The model itself contains detailed plant information,
Each distributed controller provides two physical network including generator electrical and mechanical parameters,
connections for redundancy. This forms an A network and a actual governor and excitation models and parameters
B network across the system, each with dedicated Ethernet (obtained from the manufacturer), network impedances,
switches. detailed load models (static, induction, and synchronous
motors), and voltage- and frequency-protection systems. This
IV. COORDINATION WITH THE PROTECTION AND
level of detail allows for accurate testing of the controller
CONTROL SYSTEM performance for various system events and conditions.
Proper coordination of all the protection and control Before performing the closed-loop tests, the authors
systems is critical for ensuring smooth plant operation. The validated every component in the model and the full model
GCS was designed considering the plant load-shedding itself. Generator validation tests included load rejection, load
system, intertie tripping system, and generator and load acceptance, full-speed no load, and exciter step tests for each
protection systems. This ensured optimal control of the unit. Similarly, transformers, lines, and loads were validated to
system frequency and voltage at all times. Improper ensure correct representation. Finally, the authors validated
coordination often leads to unnecessary tripping and could the overall system for load flow ca se s and performed a few
have a detrimental effect on the stability of the system. dynamic performance tests that included observing the
In addition to the generator and load protection systems, system response for events such a s generator tripping, and
the plant has a primary contingency-based load-shedding intertie tripping.
system, a backup frequency-based load-shedding system, In addition to closed-loop validation tests, the model also
and an intertie tripping system based on available generation allowed tuning of the various PID loops within the GCS to
and overload conditions. achieve an optimal performance. Fig. 10 shows an example of
tuning performed on a single STG for a load-tripping
V. TESTING USING A REAL-TIME condition. It shows the response of a single STG for different
HARDWARE SIMULATOR proportional and integral gains of its distributed controller.
Before performing integrated system tests, the authors
To verify and validate the GCS performance, the authors used the model to tune and test every generator by using their
developed a computer simulation model of the plant in a GCS controllers. This provided the starting-point PID values
commercial real-time hardware simulator. The simulator for each distributed controller. A large variety of tests were
provides the ability to connect the actual controllers (real conducted using the closed-loop simulator and actual
equipment) under test in a closed-loop fashion with the plant distributed controllers for various generation loading
model. This allows for the exchange of measurement and conditions. Some of the tests included generation tripping,
control signals in real time to evaluate the true performance of load tripping, large load startups, inadvertent loss of interties,
the GCS functions. Fig. 9 shows a block diagram of the single-phase and three-phase faults at various plant locations,
simulator testing setup. loss of excitation and prime mover, arc-flash events triggering
the opening of multiple breakers within the system, and
closely timed events (back-to-back contingencies).

- 409 -
 5. Verify the controller performance and record any
observations, including round-trip times, expected
versus actual control action, and so on.
6. Confirm the behavior of protection systems based on
the nature of the test case.
Frequency (Hz)

As an example, Fig. 11 shows the response of the system

generators (all operating in isochronous load sharing mode
and voltage-control VAR sharing) for a three-phase fault on a
helper motor running at 11.3 MW. The event resulted in the
motor tripping and a loss of load on the system. This test
shows that the minimum and maximum system frequencies
and generator bus voltages are well within the allowable limits
and that the system quickly settles at a new steady state.
Fig. 12 shows another simulation run with three back-to-
back events. In Event 2A, the GCS controller on one of the
two STGs is disconnected from the communications network.
At the sam e time, another generator is intentionally tripped to
Fig. 10 Frequency Control PID Tuning of a Single STG for a verify the STG response. The two STGs start to drift apart in
Large Load (21.3 MW) Trip terms of their real power output for the loss of generation. The
The following is the test sequence for every simulation run. tripping of generation causes an expected opening of the
1. Adjust generation and load, and initiate simulation interties between the existing and new plants, which triggers
using a typical load flow. load shedding. This is shown by the two different system
2. Trigger the event by either applying faults and clearing frequencies that are established.
them or by directly opening breakers. In Event 2B, the network connection on the STG controller
3. Analyze the system response in terms of frequency is reestablished, and both STGs return to proportional real
and bus voltages in every island. power sharing and participate in isochronous control.
4. Record the minimum and maximum frequencies, the Finally, in Event 2C, the autosynchronization system closes
minimum and maximum voltages, and the interaction the tie breakers. The success of the synchronization can be
of the GCS with any local protection or control verified by observing the system frequency.
systems.

Fig. 11 Simulation Data Showing the Effect of a Three-Phase Fault on a Helper Motor

- 410 -
 Fig. 12 Simulation Data Showing Three Back-To-Back Events (loss of controller communications, tripping of a single
generator, and load shedding; restoring of controller communications; and automatic synchronization)

Overall, the authors performed approximately 100 different 5. To avoid overloading the intertie lines during certain
simulation tests during project development and factory operating topologies, always operate one STG in
acceptance testing. These simulations provided qualitative isochronous load sharing mode.
conclusions and results regarding the system performance 6. Design fast load-shedding systems with appropriate
and evaluated the controller performance itself. The benefits power measurement filter time constants to avoid all
ranged from fine-tuning the GCS to recommending effective known failure modes. Examples include untrustworthy
system operational modes for various plant operating transducer measurements during voltage transients
scenarios. and meter data aliasing when polling data from lEDs.
Some of the key benefits of using simulations are as 7. The distributed GCS is tuned to operate well with the
follows: load-shedding system and the generator protection
1. Provide a safe environment to develop and tune the systems, thus avoiding any unnecessary oscillations
various loop variables prior to integration and within the system. Final tuning may be required during
commissioning of the actual hardware. onsite commissioning.
2. Help develop a realistic starting point for all tuning prior 8. For most of the event conditions, the new STGs
to real-world tuning during commissioning. provide enough dynamic stability support to run the
3. Provide an environment for plant owners (operations, older units above 50 percent capacity to meet emission
engineering) to develop “what-if case scenarios to compliance requirements.
examine various possibilities (faults, process upsets, 9. The generators are tuned well enough to survive low
and so on). load loss events even when the load-shedding system
Allow operations to avoid risky combinations of generation, is unavailable.
knowing that the islanded facility is not a s robust a s other 10. Due to the controller design limitations, operate as
combinations that might provide more upset-ride-through many units as possible in isochronous load sharing
capabilities. mode to avoid the possibility of inadvertently putting a
Some of the lessons learned in terms of system operations fixed-load unit in a single island.
include the following:
1. To provide the highest chance of survival during some VI. CONCLUSIONS
events, always operate one of the two STGs in
isochronous load sharing mode. G C Ss play an important role in islanded power systems.
2. For an STG in fixed load control, do not operate the Fundamental building blocks of a GCS include frequency and
unit close to its maximum MW value (results in faster voltage control functions, the ability to track system islands,
instability during system events). and autosynchronization across critical breakers.
3. Operate at least one of two existing 25 MW units in The key to isochronous load sharing between generators is
isochronous load sharing mode to provide stability applying the sam e type of controllers using a common
during islanding situations. backbone for continuous control of their speed governors.
4. Revise the underfrequency set points of the existing Such a platform provides the ability to perform robust primary
plant to avoid nuisance tripping during certain island frequency control and to share the output proportionally.
conditions.

- 411 -
 In addition, this paper presents the details of VCSs and power system controls and renewable distributed generation.
highlights the necessity of autosynchronization systems. The He is a senior member of the IEEE and a member of the Eta
paper identifies the benefits of testing using a real-time Kappa Nu Honor Society.
simulator for controller validation, for understanding power Brandon Bosley earned his B.S. in electrical and computer
system dynamics, and for finalizing generator modes of engineering in 2013 from the University of Missouri - Kansas
operation. City. Upon graduation, Brandon joined Kiewit Engineering &
As of this writing, onsite commissioning has not yet been Design Co. He is currently an electrical engineer working on
performed. The authors plan to present the commissioning the execution of engineering, procurement, and construction
test results once they are available and will also compare the projects, with a focus on the design of power generation
lab results against the field results. plants. He is a member of the Eta Kappa Nu Honor Society.
Ty Clark earned his B.S. in electrical engineering in 2003
VIL ACKNOWLEDGMENT from the General Motors Institute. Upon graduation, Ty joined
ACRA Control a s an applications manager, where he oversaw
The authors would like to acknowledge the support of the development and implementation of aerospace telemetry
Ashish Upreti and Bharath Nayak during the closed-loop systems. In 2008, Ty joined Dominion as an electrical
testing. The authors would also like to acknowledge the engineer, where he has supported the design and
manufacturer’s support with the setup of the distributed construction of major capital projects.
controllers for controlled lab testing. Julio Garcia, PE, received a B.S. degree in electrical
engineering from Escuela Politécnica Nacional, Ecuador. In
VIII. REFERENCES 2003, Julio joined Consorcio Santos CMI, Ecuador, a s an
electrical engineer supporting estimating and construction
[1] K. G. Ravikumar, S. Manson, S. K. Raghupathula,
groups on petroleum exploration projects. In 2008, he joined
T. Alghamdi, and J. Bugshan, “Complete Power
Kiewit Engineering & Design Co. and is currently a lead
Management System for an Industrial Refinery,”
electrical engineer working on the execution of engineering,
proceedings of the 62nd Annual Petroleum and
procurement, and construction projects, with a focus on the
Chemical Industry Technical Conference, Houston, TX,
design of power generation plants.
October 2015.
[2] E. R. Hamilton, J. Undrill, P. S. Hamer, and S. Manson,
“Considerations for Generation in an Islanded
Operation,” proceedings of the 56th Annual Petroleum
and Chemical Industry Technical Conference, Anaheim,
CA, September 2009.
[3] S. M. Manson, A. Upreti, and M. J. Thompson, “Case
Study: Smart Automatic Synchronization in Islanded
Power System s,” proceedings of the 51st Annual
Industrial & Commercial Power System s Technical
Conference, Calgary, Canada, May 2015.
[4] E. O. Schweitzer, III, D. Whitehead, K. Fodero, and
P. Robertson, “Merging SONET and Ethernet
Communications for Power System Applications,”
proceedings of the 38th Annual Western Protective
Relay Conference, Spokane, WA, October 2011.
[5] A. Kulkarni, J. Payne, and P. Mistretta, “Integrating
SCADA, Load Shedding, and High-Speed Controls on
an Ethernet Network at a North American Refinery,”
proceedings of the 60th Annual Petroleum and Chemical
Industry Technical Conference, Chicago, IL,
September 2013.

IX. VITAE
Krishnanjan Gubba Ravikumar received his M.S.E.E.
degree from Mississippi State University and his B.S.E.E.
degree from Anna University, India. He is presently working
a s a senior engineer at SEL Engineering Services, Inc.,
focusing on design, development, and testing of special
protection systems. His areas of expertise include real-time
modeling and simulation, synchrophasor applications,
remedial action schemes, power management systems, and
power electronic applications. He has extensive knowledge of

- 412 -