AbstractThe increased penetration of wind power by doubly

fed induction generator (DFIG) in power system results in higher

frequency excursion and increased rate of change of frequency in
the event of generation loss or increased load demand. This
paper presents the added feature of frequency regulation
capability of the DFIG by incorporating an extra frequency
control support function, tested on an interconnected two-area
restructured power system. Frequency control support function
responding proportionally to the frequency deviation is proposed
to take out the kinetic energy of the wind turbine for improving
the frequency response of the system. The presence of Thyristor
controlled phase shifter (TCPS) in series with the tie-line near
one area and Superconducting Magnetic Energy Storage (SMES)
at the terminal of the other area in conjunction with dynamic
active power support from the DFIG results in optimal transient
performance for PoolCo transactions. Integral gains of AGC loop
and parameters of TCPS and SMES are optimized through
craziness based particle swarm optimization (CRPSO) in order
to have optimal transient responses of area frequencies and tie-
line power deviation.

Keywords-Doubly Fed Induction Generator, Frequency
Regulation, SMES, TCPS
I. INTRODUCTION
ISPATCHING electricity in a way that ensures the
security of the system has always been a priority of
system operators. This priority has not changed during
the transition from vertically integrated utilities to competitive
market based operation [1].
Electricity systems are evolving rapidly and the inertial and
dynamic characteristics of many new sources of generation
differ from that of conventional plants in the past. The
increasing penetration of wind generation in systems has
caused concern about the availability of the turbines stored
kinetic energy to the system [2]. In isolated systems which



Praghnesh Bhatt is with Department of Electrical Engineering, CIT
Changa, Gujarat (pragneshbhatt.ee@ecchanga.ac.in)
S.P. Ghoshal is in Department of Electrical Engineering, National Institute
of Technology, Durgapur, WB (spghoshalnitdgp@gmail.com)
Ranjit Roy is with Department of Electrical Engineering, National
Institute of Technology, Surat, Gujarat (rrsvnit@gmail.com)
Sankarsan Ghosal is in Department of Electrical Engineering, National
Institute of Technology, Durgapur, West Bengal

978-1-4244-7781-4/10/$26.00 2010 IEEE

already have a relatively small inertial base, the penetration of
wind generation causes further reduction in system inertia.
This imposes significant problems to operators trying to
ensure the system security.
The increasing integration of DFIG controlled by static
converters for wind generation into power grids is currently a
generalized tendency in various countries. However, in case of
the DFIG, the inertia of the turbine is effectively decoupled
from the system. The static converter at the heart of the DFIG
controls the performance and acts as an interface between the
machine and the grid [3]. Hence, with the increased
penetration of the DFIG based wind farms, the effective
inertia of the system "seen" by the grid will be reduced which
results in increased rates of change of frequency (ROCOF)
due to disturbances. In order to allow operation with large
shares of wind power penetration, several utilities have put
frequency control requirement on wind farms. [4].
With the emergence of the distinct identities of GENCOs,
TRANSCOs, DISCOs and the ISO, many of the ancillary
services of the vertically integrated utilities have to be
modeled differently. One of the ancillary services is the
frequency control based on the concept of the load
frequency control [5]-[6].
Moreover, in competitive electricity market, Independent
Power Producers (IPPs) with various kinds of larger capacity
and fast power consumption apparatus do not possess
sufficient frequency control capabilities and may cause a
serious problem of frequency oscillations. Under this
situation, the conventional frequency control, i.e. a governor,
may no longer be able to absorb large frequency oscillations
due to its slower response. Therefore, a new service of
stabilization of frequency oscillations becomes challenging
and is highly expected in the future competitive environment.
Hence, the impact of coordinated control of
superconducting magnetic energy storage (SMES) [7] and
thyristor controlled phase shifter (TCPS) [8] is analyzed for
load frequency control. The SMES unit is located at the
terminal of area 2 and TCPS is considered in series with the
tie-line.
The objectives of the paper are to analyze the load
frequency control (LFC) problem of an interconnected two-
area restructured power system with the integration of wind
power generation by the DFIG and to show the effectiveness
of coordinated control of TCPS-SMES for LFC. In Section II,
the modeling of PoolCo transactions in restructured power
system has been discussed. Linearized model of an
interconnected two-area restructured power system along with
the integration of the DFIGs generation and TCPS-SMES is
presented in Section III. The modeling of the DFIG is given in
Load Frequency Control of Interconnected
Restructured Power System along with DFIG
and Coordinated Operation of TCPS-SMES
Praghnesh Bhatt, S.P. Ghoshal, Member, IEEE, Ranjit Roy and Sankarsan Ghosal
D

Section IV. Objective function to have the optimal transient
response and craziness-based particle swarm optimization
technique (CRPSO) [9] to optimize the gains of integral
controller and parameters of TCPS and SMES are outlined in
Section V. Simulation results are discussed in Section VI
followed by conclusion.
II. RESTRUCTURED POWER SYSTEM
The traditional electric industry is vertically integrated with
all generation, transmission and distribution. In the restructured
environment, vertically integrated utilities no longer exist;
instead, there are three different entities, viz., GENCOs
(generation companies), TRANSCOs (transmission
companies) and DISCOs (distribution companies). As there
are several GENCOs and DISCOs in the restructured power
system, a DISCO has the freedom to have a contract with any
GENCO for the transaction of power. A DISCO of one control
area may have a contract with a GENCO in another control
area.
A. DISCO Participation Matrix
The concept of a DISCO participation matrix (DPM) is
used to make the easier visualization of the contracts between
the GENCOs and DISCOs [5]-[6]. Each area is having two
GENCOs and two DISCOs as shown in Fig. 1. Let GENCO1,
GENCO2, DISCO1 and DISCO2 be in area1 and GENCO3,
GENCO4, DISCO3 and DISCO4 be in area2. Unlike the
traditional AGC system, a DISCO asks/demands a particular
GENCO(s) for load power. Thus, as a particular set of
GENCOs is supposed to follow the total load demanded by a
DISCO, information signals must flow from the DISCO to
particular GENCO(s) specifying corresponding demands.
There are also uncontracted loads like delPuncot1 and
delPuncot2 in area 1 and 2 respectively as shown in Fig. 1.
The individual total demands on GENCO(s) are specified
by
s
cpf (elements of DPM) and the pu MW load of a DISCO.
These signals which were absent in the traditional AGC will
carry information as to which GENCO has to follow a load
demanded by which DISCO. ( ) 1, 2, 3, 4
i
apf i = are the area
control error (ACE) participation factors of different
GENCOS, which were also absent in the traditional AGC.
11 12 13 14
21 22 23 24
31 32 33 34
41 42 43 44
DPM
cpf cpf cpf cpf
cpf cpf cpf cpf
cpf cpf cpf cpf
cpf cpf cpf cpf



=




(1)
III. LINEARIZED MODEL OF INTERCONNECTED TWO-AREA
MULTI UNITS RESTRUCTURED POWER SYSTEM ALONG WITH
TCPS AND SMES
Fig. 1 shows the linearized model of an interconnected two-
area restructured power system along with the integration of
12

1

i1
-K
s
i2
-K
s
T
12
s
12

2

1 1
1
2H s+D
2 2
1
2H s+D
TCPS
P
SMES
P
G,TH
1
1+s T ( )( )
HP RH
CH RH
sF T +1
sT +1 sT +1
G,TH
1
1+s T ( )( )
HP RH
CH RH
sF T +1
sT +1 sT +1
G,HY
1
1+s T
R
T P R
1+sT
1+s(R /R ) T
W
W
1-s T
1+s0.5T
G,HY
1
1+sT
R
T P R
1+sT
1+s(R /R ) T
W
W
1-sT
1+s0.5T
TH
1 R
TH
1 R
HY
1 R
HY
1 R
TT1
P
TT2
P
P
HH2

P
HH1

DFIG
P


Fig.1. Schematic of two-area system in restructured environment
( ) ,
p
C
0
1
2
WT
H s
mt
P
e
P

a
T
a
P
0 wt

0
27
0
0
1
1
f
sT +
P

ef
P
ref

er r
it
pt
K
K
s
+

0 cmd
T
0 wt

0 cmd
P
grid
f
f
f
K
e
P
p
L
eq2 2
1
2H s+D
1
WT
V
cmd
P cmd
I
1
1
con
sT +
WT
V
ref
f
DFIG
P
HH TT
P / P

Fig.2. Block diagram of the DFIG model with frequency support function

the DFIGs generation for the load frequency control. The
control areas are having thermal/hydro GENCO(s). DFIG is
placed along with the hydro GENCOs in area 2. The
generating units of GENCOs are represented by traditional
units blocks as given in [10]. The parameters are given in the
Appendix. The presence of TCPS in series with tie-line near
area 1 and SMES at the terminal of area 2 is also represented in
Fig. 1. The linearized model of TCPS and SMES are shown in
Fig. 3 and Fig. 4, respectively.
IV. MODELING OF DFIG
DFIG, being in the category of variable-speed wind turbine
generators, can offer increased efficiency in capturing the
energy from wind over a wider range of wind speeds, along
with better power quality and the ability to regulate the power
factor. The power electronic converter in the DFIG is attached
to the rotor. The rotor is connected to the power system
through the back-to-back ac/dc/ac converter, while the stator
is connected directly to the power system. Normally, the
control scheme of the DFIG decouples the rotational speed of
the rotor from the grid frequency, thus preventing the
generator from responding to the system frequency changes.
However, modern DFIG is designed to be able to vary its
rotational speed in a wider range during normal operations
which gives the possibility to utilize the rotational energy in
the turbine-generator to provide short term active power
support in the event of network frequency excursion [11].
A model of a multi-megawatt commercial DFIG (GE 3.6
MW) is used in this work, adopted from [12]-[13]. The block
diagram of the DFIG is shown in Fig. 2. The DFIG is
integrated with GENCO(s) in area 2.
The generated mechanical power ( )
mt
P is a complex functions
of wind speed ( )
s
, rotor speed ( )
t
and pitch angle ( ) . The
power coefficient
( ) p
C value of the turbine is given by (2).
( )
4 4
,
0 0
,
i j
p i j
i j
C
= =
=

(2)
The values of the coefficient
, i j
are given in [12]-[13].
0
t
s
R

= (3)
where
t
is the rotor speed in pu,
s
is the wind speed in
m/s,
0
is the rotor base speed in rad/s and R is the rotor
radius in meter. The mechanical power captured by the turbine
is given by (4).
3
,
1
2
r
mech p opt s
n
A
P C w
S

=




(4)
where is the air density in
3
kg/m ,
r
A is the rotor swept area
in
2
m ,
, p opt
C is the maximum value of the ( )
p
C curve at
0
0 ,
opt
is the optimal value of for which the value of
, p opt
C is maximum,
n
S is the DFIG rating in MW,
0
is the
rotor base speed in rad/s and R is the rotor radius in meter.
The values of these parameters for the GE 3.6 MW DFIG are
given in the Appendix.
The
p
C curves of the turbine based on (2)-(3) are plotted
for different pitch angles ( ) and shown in Fig. 5(a). Fig. 5(b)
presents the static dependency of the captured mechanical
power by the turbine as function of rotor speed for different
wind speeds. As may be seen from Fig. 5(b), there exists an
optimal rotor speed, for a given wind speed, when the
captured mechanical power is the maximum. This represents
the normal operation of the DFIG where it operates at the
maximum point of the ( )
p
C curve. Other than these optimal
rotor speeds, the captured mechanical power reduces
significantly.
A. Frequency Control Support Function added to the DFIG
Under normal operation, the convertor controllers of the
DFIG keep the turbine at its optimal speed in order to extract
maximum power. The controller gives a torque set point that
is based on measured speed and power. The power set point is
an input for the converter control that realizes the torque by
controlling the generator currents. To emulate the inertia and
to facilitate the excess active power injection from the DFIG
for the frequency support, an additional auxiliary signal is
considered and shown shaded in Fig. 2.
Upon the detection of a network frequency disturbance, an
active power increment as a function of the grid frequency
deviation in addition to the pre-disturbance value of nominal
active power is fed to the DFIG converter controller. Hence,
the electrical torque of the DFIG is now greater than the
mechanical torque generated for a given wind speed and the
DFIG rotor will experience the deceleration torque. As a
result, the rotational speed of the DFIG deviates from its
optimal operating point and extra rotational energy is
emulated from the rotor blades. This extractable kinetic
energy from the DFIG is used to supply more power to the
PS
K
1+s T
TCPS
P
i
(s)
12
T

Fig. 3 Structure of TCPS as a frequency stabilizer
SMES
K
SMES
1
1+s T
SMES
P
i
(s)
1
2
1+s T
1+s T
3
4
1+s T
1+s T

Fig. 4 Structure of SMES as a frequency stabilizer
2 4 6 8 10 12
0
0.2
0.4
Lambda
C
p


Beta = 0
Beta = 1
Beta = 3
Beta = 9
(a)
0.5 0.6 0.7 0.8 0.9 1 1.1
0
0.2
0.4
0.6
0.8
1
Rotor Speed (pu)
P
m
e
c
h

(
p
u
)

6.5 m/s
7.5 m/s
8.5 m/s
9.5 m/s
10.5 m/s
11.2 m/s
(b)
Fig.5. (a)
p
C (b) Wind turbine mechanical power as a function of the
wind turbine rotor speed for different wind speeds

grid in order to reduce the initial fall of frequency of the
system after the load disturbance. The deceleration of the rotor
and consequently extractable kinetic energy that is utilized to
generate dynamic active power support depends upon the grid
frequency deviation.
It should be noted that the DFIGs extra active power
supports the grid frequency in transient period only. The
integral controller in the AGC loop of the generating units
restores the frequency to the nominal value. As a result, under
stady state, additional power demand on the convertor
controller which is a function of the grid frequency deviation
shown in Fig. 2 is eliminated and normal operation of the
DFIG at the optimal rotor speed will be restored again.
V. MATHEMATICAL PROBLEM FORMULATION AND
CRAZINESS-BASED PARTICLE SWARM OPTIMIZATION
A. Figure of Demerit
The objective of the AGC is to reestablish primary
frequency regulation, restore the frequency to its nominal
value as quickly as possible and minimize the tie-line power
flow oscillations between neighboring control areas. In order
to satisfy the above requirements, gains ( )
I1 I2
K , K of integral
controllers in the AGC loops and parameters of TCPS and
SMES are required to be optimized. In the present work, an
Integral Square Error (ISE) criterion is used to minimize the
objective function defined as "Figure of Demerit (FDM)":

2 2 2
1 2 tie
FDM= f +f +P T

(5)

where T = a given time interval for taking 200 samples,
i
f = sample value of the incremental change in frequency of
ith area and
tie
P = sample value of the incremental change in
the tie-line power. The samples are obtained from their
respective plots derived through transfer function analysis.
The objective function is minimized with the help of CRPSO
based optimization technique [9].
B. Craziness-based Particle Swarm Optimization
The PSO was first introduced by Kennedy and Eberhart
[14]. It is an evolutionary computational model, a stochastic
search technique based on swarm intelligence.
Velocity updating equation:
( ) ( )
1
1 1 pBest 2 2 gBest
k k k k
i i i i i
v v c r x c r x
+
= + + (6)
Position updating equation:
1 1 k k k
i i i
x x v
+ +
= + (7)
The following modifications in velocity help to enhance the
global search ability of PSO algorithm as observed in CRPSO
[9].
(i) Velocity updating as proposed in [9] may be stated as in
the following equation:
( ) ( )
( ) ( ) ( )
1
2 1 2 1 1 pBest
1 2 2 1 1 gBest
k k k
i i i i
k
i
v r v r c r x
r c r x
+
= +
+
(8)
Local and global searches are balanced by random number r2
as stated in (9). Change in the direction in velocity may be
modeled as given in the following equation:
( )
( )
( ) ( )
( )
1
2 sign(r3) 1 2 1 1
pBest 1 2 2 1 1 gBest
k k
i i
k k
i i i
v r v r c r
x r c r x
+
= +
+
(9)
In (9), sign (r3) may be defined as
( )
( )
1 3 0.05
sign( 3) =
1 3 0.05
r
r
r

>

(ii) Inclusion of craziness: Diversity in the direction of birds
flocking or fish schooling may be handled in the traditional
PSO with a predefined craziness probability. The particles
may be crazed in accordance with the following equation
before updating its position.
1 1 craziness
( 4) ( 4)
k k
i i i
v v Pr r sign r v
+ +
= + (10)
where Pr(r4) and sign(r4) are defined respectively as:
( )
( )
craz
craz
1 4
( 4)
0 4>
r P
Pr r
r P

(11)
( )
( )
1 4 0.5
sign( 4)
-1 4<0.5
r
r
r

(12)
During the simulation of PSO, the best chosen maximum
population size = 50, maximum allowed iteration cycles =
100, best Pcraz = 0.2 (chosen after several experiments). The
choice of c1, c2 are very much vulnerable for PSO execution.
The best value of either c1 or c2 is 1.65. The value
of
craziness
i
v lies between 0.25 and 0.35.
VI. SIMULATION RESULTS AND DISCUSSION
Frequency responses of the interconnected two-area
restructured power system shown in Fig. 6 with the
penetration of DFIG have been investigated for PoolCo
transactions. Simulations are carried out by considering
Thermal-Thermal units in area 1 and Hydro-Hydro units in
area 2 (TT HH).The penetration of DFIG is considered only
in area 2. The presence of TCPS is considered in series with
the tie-line near area 1 and SMES is located at the terminal of
area 2. With the penetration of the DFIG in area 2, the droop
setting ( ) R and the system inertia
( ) eq
H of area 2 change, as
discussed below.

A. Computation of the Droop Setting and the System Inertia
due to the DFIG Penetration in Area 2
A.1 Computation of the droop setting
With the wind penetration level of
p
L , the droop setting is
given by (13).
( )
/ 1
Lp p
R R L = (13)
A.2 Change in the system inertia constant with the wind
penetration level,
p
L and DFIG does not provide frequency
support
The increased wind penetration displaces some portion of
generation of the generating units, thereby reducing the
system inertia. %
p
L wind penetration means %
p
L reduction in
the existing generation of the generating units i.e.,
%
p
L reduction in the system inertia, considering no frequency
support from the DFIG. The steady state load balance is
maintained by the %
p
L wind generation.
( )
,
1
eq Lp eq p
H H L = (14)
A.3 Change in the system inertia constant with the wind
penetration level of
p
L and DFIG provides frequency
support
The modified system inertia constant in the presence of
wind penetration level %
p
L along with the extra frequency
support is given by (15) [15].
( )
,
1
eq Lp eq p WT p
H H L H L = + (15)
The inertial contribution
WT
H from the DFIG as
experienced by the power system when the DFIG provides
e
P temporary extra active power support by utilizing its
rotational energy stored in the turbine blades is given by (16).
( )
2 1
ln
2
d
eq p
WT
p
T D
H L
X
H
L

= (16)
where
( )
2 1
1
d
eq p
T D
H L e p e p
L L
P L P L
X e
P P

= +




The computed values of the droop setting ( ) R and the
inertia constants
( ) eq
H after %
p
L wind penetration of DFIG
without and with frequency support function are used in area 2
of the linearized model of the interconnected two-area power
system (Fig. 1) in order to consider the equivalent impact of
the DFIG for the optimization purpose. However, for the exact
simulation in MATLAB/SIMULINK, ( ) R and
( ) eq
H will be
modified as per (13) and (14) respectively and the model of
the DFIG shown in Fig. 2 is integrated with the linearized
model of the system shown in Fig.1.
Transient Response of Interconnected Two-area Restructured
Power System with PoolCo Transaction
An event is simulated in which a system shown in Fig. 1 is
subjected to step load perturbations ( )
1 2 3 4
, , and
L L L L
P P P P
as given in (17)[5]-[6] at t = 5 sec.

0 5 10 15 20 25 30 35 40 45 50
-0.6
-0.4
-0.2
0
0.2
D
e
lt
a

f
1
(
H
z
)


0 5 10 15 20 25 30 35 40 45 50
-1.5
-1
-0.5
0
D
e
lt
a

f
2
(
H
z
)


0 5 10 15 20 25 30 35 40 45 50
0
0.05
0.1
Time (Sec)
D
e
lt
a

P
t
ie
(
p
u
)


(a) (b) (c) (d)
(a) (b) (c) (d)
(a) (b) (c) (d)

a) TT HH (b) TT-HHW with 20% wind penetration without f support (c)
TT-HHW with 20% wind penetration with f support (d) TT-HHW with
20% wind penetration with f support and TCPS-SMES coordination
Fig.6. Area frequency and tie-line power exchange for PoolCo transaction
0 10 20 30 40 50 60 70 80
0.25
0.3
0.35
0.4
P
e

o
f

D
F
I
G
(
p
u
)

0 10 20 30 40 50 60 70 80
0.92
0.94
W
w
t

(
p
u
)


0 10 20 30 40 50 60 70 80
0.3158
0.316
0.3162
0.3164
Time (Sec)
P
m

o
f

D
F
I
G
(
p
u
)


TT-HHW with 0.1 pu support
TT-HHW with 0.1 pu support & TCPS-SMES
TT-HHW with 0.1 pu support
TT-HHW with 0.1 pu support & TCPS-SMES
TT-HHW with 0.1 pu support
TT-HHW with 0.1 pu support & TCPS-SMES

Fig.7. Variation in DFIG electrical power, rotor speed and mechanical power

TABLE I
OPTIMIZED PARAMETERS FOR TEST SYSTEM
Optimized
Parameters
(a) (b) (c) (d)
Ki1 -0.0996 -0.106 -0.096 -0.05
Ki2 -0.0300 -0.030 -0.040 -0.05
K - - - 1.200
TPS - - - 0.100
KSMES - - - 1.900
TSMES - - - 0.050
T1 - - - 0.251
T2 - - - 0.012
T3 - - - 0.900
T4 - - - 0.379
FDM 6.5388 7.7738 5.1567 3.5615

(a) TT HH (b) TT-HHW with 20% wind penetration without f support
(c) TT-HHW with 20% wind penetration with f support (d) TT-HHW with
20% wind penetration with f support and TCPS-SMES coordination

1
,uncot1
2
3 ,uncot2
4
1 2 3 4
0.5 0.5 0.0 0.0 0.05
0.5 0.5 0.0 0.0 0.05 0
DPM , ,
0.0 0.0 0.5 0.5 0.05 0
0.0 0.0 0.5 0.5 0.05
0.5, 0.5, 0.5, 0.
L
L
L
L L
L
P
P
P
P P
P
apf apf apf apf




= = =







= = = = 5
(17)
Wind penetration level and wind speed are assumed to be
20% and 7.5 m/s respectively in area 2. When the DFIG does
not provide any active power support for frequency control, a
further frequency dip due to the decrease of system inertia with
the wind penetration may be seen from Fig. 6. In Fig. 6, the
imporvement in the frequency response is observed for the
case when the DFIG is participating for frequency control by
releasing extra active power support. In simulation, an
additional power demand ( )
e
P as a function of frequency
deviation is added on top of the converter reference point. As
a result, the rotor speed falls, transferring more kinetic energy
into the grid and compensating the increased step power
demand as shown in Fig. 7. The coordinated control of TCPS-
SMES in association with frequency control support function
from the DFIG considerably reduces the undershoot,
overshoot and settling time of area frequencies and tie-line
power exchange and gives optimal transient performance after
the load disturbances, as may be seen from Fig. 6.
Following the integral control actions of the existing
traditional generator units, finally, the area frequency
deviations become zero which consequently eliminates the
additional active power demand ( )
e
P and the DFIG turbine is
driven to operate again at the optimal rotor speed as may be
observed from the Fig.7. Table 1 shows the optimized
parameters for the test system.
In the steady state, generation of each GENCO must
match the demand of the DISCOs in contract with it. This
total generation of individual GENCO can be calculated by
(18) [5]-[6].
'
'
, cot
_ _ * _
_ *
G L
L un
P matrix cpf matrix P matrix
apf matrix P
=
+
(18)
CONCLUSION
The penetration of DFIG reduces the system inertia as its
rotational speed is decoupled from the grid frequency by a
power electronic converter. In this work, an extra frequecy
control support function is proposed which affects the
rotational speed of the rotor in the event of frequecny
disturbance and reduces the frequency dip by releasing short
term transient active power support. Simulation results show
that the sole participation of the DFIG and also the
coordinated action of DFIG-TCPS-SMES gives the optimal
dynamic performances of the area frequencies and tie-line
power exchange deviations in the event of load disturbance.

APPENDIX
.max
0
5.19s,0.5 0.00145, 0.5173, 8.76, 52m,
1.335rad/s, 5s, 0.02s, 3, 0.6, 1.0pu,
WT r n p opt
f con pt it WT
H A S C R
T T K K V

= = = = =
= = = = = =

,
, eq1
eq2 1 2 12 12 1 2
0.1, 0.2s, 1s, 0.38, 0.05, 5s,
0.05, 0.2s, 0.3, 7s, 0.3s,H =5,
H =3,D =D =1, T =2, =-1,B =B =21,f=60Hz,
HY G HY W T P R
TH G TH HP RH CH
R T T R R T
R T F T T
= = = = = =
= = = = =
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