0
Research Papers

Switched Model and Dynamic Analysis of a Hydroturbine Governing System in the Process of Load Rejection Transient

[+] Author and Article Information
Huanhuan Li

Institute of Water Resources
and Hydropower Research,
Northwest A&F University,
Yangling 712100, Shaanxi, China
e-mail: huanhuanli012@126.com

Diyi Chen

Institute of Water Resources
and Hydropower Research,
Northwest A&F University,
Yangling 712100, Shaanxi, China;
Key Laboratory of Agricultural Soil and Water
Engineering in Arid and Semiarid Areas,
Ministry of Education,
Northwest A&F University,
Yangling 712100, Shaanxi, China;
Australasian Joint Research Centre for
Building Information Modelling,
School of Built Environment,
Curtin University,
Bentley, WA 6102, Australia
e-mail: diyichen@nwsuaf.edu.cn

Feifei Wang

Institute of Water Resources
and Hydropower Research,
Northwest A&F University,
Yangling 712100, Shaanxi, China
e-mail: wangfefei1027@126.com

Hao Zhang

Institute of Water Resources
and Hydropower Research,
Northwest A&F University,
Yangling 712100, Shaanxi, China
e-mail: hzhang_pioneer@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 18, 2016; final manuscript received February 23, 2017; published online xx xx, xxxx. Assoc. Editor: Shankar Coimbatore Subramanian.

J. Dyn. Sys., Meas., Control 139(10), 101002 (Jun 05, 2017) (12 pages) Paper No: DS-16-1407; doi: 10.1115/1.4036234 History: Received August 18, 2016; Revised February 23, 2017

In this paper, we pay attention to studying the switched model of the hydroturbine governing system (HTGS) by introducing the concept of the switching of operational conditions. More specifically, utilizing the data of an existent hydropower station in China, we propose six nonlinear dynamic transfer coefficients of the hydroturbine, which can better describe the dynamic characteristics of the HTGS in the process of load rejection transient. Moreover, the elastic water hammer-impact of the penstock system and the nonlinearity of the generator for the process of load rejection transient are considered. Based on the combination of the different regulation modes of the governor and the corresponding running conditions of the hydroelectric generating unit, a novel nonlinear dynamic switched mathematical model of the HTGS is finally established. Meanwhile, the nonlinear dynamic behaviors of the governing system are exhaustively investigated using numerical simulations. These methods and analytical results will provide some theory bases for running a hydropower station.

FIGURES IN THIS ARTICLE
<>
Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Yao, J. Y. , Jiao, Z. X. , Ma, D. W. , and Yan, L. , 2014, “ High-Accuracy Tracking Control of Hydraulic Rotary Actuators With Modeling Uncertainties,” IEEE-ASME Trans. Mechatron., 19(2), pp. 633–641. [CrossRef]
Natarajan, K. , 2005, “ Robust PID Controller Design for Hydroturbines,” IEEE Trans. Energy Convers., 20(3), pp. 661–667. [CrossRef]
IEEE Working Group, 1992, “ Hydraulic-Turbine and Turbine Control-Models for System Dynamic Studies,” IEEE Trans. Power Syst., 7(1), pp. 167–179. [CrossRef]
Guo, W. C. , Yang, J. D. , Wang, M. J. , and Lai, X. , 2015, “ Nonlinear Modeling and Stability Analysis of Hydro-Turbine Governing System With Sloping Ceiling Tailrace Tunnel Under Load Disturbance,” Energy Convers. Manage., 106, pp. 127–138. [CrossRef]
Nagode, K. , and Skrjanc, I. , 2014, “ Modelling and Internal Fuzzy Model Power Control of a Francis Water Turbine,” Energies, 7(2), pp. 874–889. [CrossRef]
Kishor, N. , 2008, “ Nonlinear Predictive Control to Track Deviated Power of an Identified NNARX Model of a Hydro Plant,” Expert Syst. Appl., 35(4), pp. 1741–1751. [CrossRef]
Skripkin, S. , Tsoy, M. , Shtork, S. , and Hanjalic, K. , 2016, “ Comparative Analysis of Twin Vortex Ropes in Laboratory Models of Two Hydro-Turbine Draft-Tubes,” J. Hydraul. Res., 54(4), pp. 450–460. [CrossRef]
Johnson, R. M. , Chow, J. H. , and Dillon, M. V. , 2013, “ Pelton Turbine Needle Control Model Development, Validation, and Governor Designs,” ASME J. Dyn. Syst. Meas. Control, 135(1), p. 011015. [CrossRef]
Wei, S. P. , 2011, Simulation of Hydraulic Turbine Regulating System, Huazhong University of Science and Technology Press, Wuhan, China.
Ding, X. B. , and Sinha, A. , 2016, “ Hydropower Plant Frequency Control Via Feedback Linearization and Sliding Mode Control,” ASME J. Dyn. Syst. Meas. Control, 138(7), p. 074501. [CrossRef]
Jiang, C. W. , and Ma, Y. C. , 2006, “ PID Controller Parameters Optimization of Hydro-Turbine Governing Systems Using Deterministic-Chaotic-Mutation Evolutionary Programming (DCMEP),” Energy Convers. Manage., 47(9–10), pp. 1222–1230. [CrossRef]
Chen, D. Y. , Ding, C. , Do, Y. H. , Ma, X. Y. , Zhao, H. , and Wang, Y. C. , 2014, “ Nonlinear Dynamic Analysis for a Francis Hydro-Turbine Governing System and Its Control,” J. Franklin Inst.: Eng. Appl. Math., 351(9), pp. 4596–4618. [CrossRef]
Nasselqvist, M. , Gustavsson, R. , and Aidanpaa, J. O. , 2013, “ A Methodology for Protective Vibration Monitoring of Hydropower Units Based on the Mechanical Properties,” ASME J. Dyn. Syst. Meas. Control, 135(4), p. 041007. [CrossRef]
Zeng, Y. , Zhang, L. X. , Guo, Y. K. , and Qian, J. , 2015, “ Hamiltonian Stabilization Additional L2 Adaptive Control and Its Application to Hydro Turbine Generating Sets,” Int. J. Control. Autom. Syst., 13(4), pp. 867–876. [CrossRef]
Kishor, N. , Saini, R. P. , and Singh, S. P. , 2007, “ A Review on Hydropower Plant Models and Control,” Renewable Sustainable Energy Rev., 11(5), pp. 776–796. [CrossRef]
Nataraj, P. S. V. , and Kalla, R. , 2010, “ Computation of Stability Margins for Uncertain Linear Fractional-Order Systems,” ASME J. Dyn. Syst. Meas. Control, 132(1), p. 014502. [CrossRef]
Acharya, N. , Kim, C. G. , Thapa, B. , and Lee, Y. H. , 2015, “ Numerical Analysis and Performance Enhancement of a Cross-Flow Hydro Turbine,” Renewable Energy, 80, pp. 819–826. [CrossRef]
Kuiava, R. , Ramos, R. A. , and Pota, H. R. , 2013, “ A New Method to Design Robust Power Oscillation Dampers for Distributed Synchronous Generation Systems,” ASME J. Dyn. Syst. Meas. Control, 135(3), p. 031011. [CrossRef]
Lin, S. T. , and Chen, M. W. , 2011, “ A PID Type Constraint Stabilization Method for Numerical Integration of Multibody Systems,” ASME J. Comput. Nonlinear Dyn., 6(4), p. 044501. [CrossRef]
De Jaeger, E. , Janssens, N. , Malfliet, B. , and Vandemeulebroeke, F. , 1994, “ Hydro Turbine Model for System Dynamic Studies,” IEEE Trans. Power Syst., 9(4), pp. 1709–1715. [CrossRef]
Qian, D. W. , Yi, J. Q. , and Liu, X. J. , 2011, “ Design of Reduced Order Sliding Mode Governor for Hydro-Turbines,” IEEE American Control Conference (ACC), San Francisco, CA, June 29–July 01, pp. 5073–5078.
Sun, M. F. , Wang, R. L. , Wang, J. , and Lu, J. B. , 2011, “ Research of Simulation Model for Non-Linear Turbine Regulating System,” Advanced Materials Research, Oct. 21–23, Shanghai University of Electric Power, Shanghai, China, pp. 569–574.
Kishor, N. , Singh, S. P. , and Raghuvanshi, A. S. , 2006, “ Dynamic Simulations of Hydro Turbine and Its State Estimation Based LQ Control,” Energy Convers. Manage., 47(18–19), pp. 3119–3137. [CrossRef]
Zhang, H. , Chen, D. Y. , Xu, B. B. , and Wang, F. F. , 2015, “ Nonlinear Modeling and Dynamic Analysis of Hydro-Turbine Governing System in the Process of Load Rejection Transient,” Energy Convers. Manage., 90, pp. 128–137. [CrossRef]
Liu, X. L. , and Gao, H. M. , 2003, “ A Comparative Study of the Transfer Coefficients of the Hydro-Turbine,” J. Zhengzhou Univ. (Eng. Sci.), 24(4), pp. 1–5.
Shen, Z. Y. , 1998, Hydraulic Turbine Regulation, WaterPower Press, Beijing, China.
Xu, B. B. , Chen, D. Y. , Zhang, H. , and Wang, F. F. , 2015, “ Modeling and Stability Analysis of a Fractional-Order Francis Hydro-Turbine Governing System,” Chaos Solitons Fractals, 75, pp. 50–61. [CrossRef]
Ling, D. J. , 2007, “ Bifurcation and Chaos of Hydraulic Turbine Governor,” Ph.D. thesis, Hohai University, Nanjing, China.
Shou, M. H. , and Zhang, X. B. , 1984, “ Study on the Dynamic Model of the Hydro-Turbine Linear Control System,” J. Electr. Eng., 4(2), pp. 48–57.
Xu, B. B. , Wang, F. F. , Chen, D. Y. , and Zhang, H. , 2016, “ Hamiltonian Modeling of Multi-Hydro-Turbine Governing Systems With Sharing Common Penstock and Dynamic Analyses Under Shock Load,” Energy Convers. Manage., 108, pp. 478–487. [CrossRef]
Xu, B. B. , Chen, D. Y. , Zhang, H. , and Wang, F. F. , 2015, “ The Modeling of the Fractional-Order Shafting System for a Water Jet Mixed-Flow Pump During the Startup Process,” Commun. Nonlinear Sci. Numer. Simul., 29(1–3), pp. 12–24. [CrossRef]
Li, H. H. , Chen, D. Y. , Zhang, H. , Wang, F. F. , and Ba, D. D. , 2016, “ Nonlinear Modeling and Dynamic Analysis of a Hydro-Turbine Governing System in the Process of Sudden Load Increase Transient,” Mech. Syst. Signal Process., 80, pp. 414–428. [CrossRef]
Chang, J. S. , 2005, Transients of Hydraulic Machine Installations, Higher Education Press, Beijing, China.
Chen, D. Y. , Ding, C. , Ma, X. Y. , Yuan, P. , and Ba, D. D. , 2013, “ Nonlinear Dynamical Analysis of Hydro-Turbine Governing System With a Surge Tank,” Appl. Model., 37(14–15), pp. 7611–7623. [CrossRef]
Li, Y. , 2015, Principles of Automatic Control, Northwestern Polytechnic University Press, Xi'an, China.
Dorf, R. C. , and Bishop, R. H. , 2007, Modern Control Systems, Prentice-Hall, Upper Saddle River, NJ.

Figures

Grahic Jump Location
Fig. 1

The structure diagram of the Francis hydroturbine governing system

Grahic Jump Location
Fig. 2

Dynamic model of the hydroturbine and penstock system

Grahic Jump Location
Fig. 3

The closing law of the guide vane in the process of load rejection transient

Grahic Jump Location
Fig. 4

Change laws of the characteristic parameters of the HTGS of the Gutianxi hydropower station in the process of load rejection transient

Grahic Jump Location
Fig. 5

Diagrams of the deviations of the HTGS in the process of load rejection transient with PI regulation method (0≤t≤4)

Grahic Jump Location
Fig. 6

Diagrams of the deviations of the switched HTGS in the process of load rejection transient (0≤t≤4): (a) mt − t and (b) ω − t

Grahic Jump Location
Fig. 7

Time waveforms of the switched HTGS with t = 0.32: (a) mt − t and (b) ω − t

Grahic Jump Location
Fig. 8

Time waveforms of the switched HTGS with t = 0.5: (a) mt − t and (b) ω − t

Grahic Jump Location
Fig. 9

Time waveforms of the switched HTGS with t = 0.73: (a) mt − t and (b) ω − t

Grahic Jump Location
Fig. 10

Time waveforms of the switched HTGS with t = 3: (a) mt − t and (b) ω − t

Grahic Jump Location
Fig. 11

Zero-pole distributive charts of the HTGS at particular times: (a) t = 0, (b) t = 0.32, (c1) t = 3, (c2) local implication with t = 3, (d1) t = 4, and (d2) local implication with t = 4

Grahic Jump Location
Fig. 12

Diagrams of the deviations of the HTGS between the novel model and the previous model: (a) mt − t and (b) ω − t

Grahic Jump Location
Fig. 13

Time waveforms of the HTGS between the novel model and the previous model with different times: (a1) mt − t with t = 0, (a2) ω − t with t = 0, (b1) mt − t with t = 0.32, (b2) ω − t with t = 0.32, (c1) mt − t with t = 4, and (c2) ω − t with t = 4

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In