Iijee 2014 12 01 2

IPASJ International Journal of Electrical Engineering (IIJEE)
Web Site: http://www.ipasj.org/IIJEE/IIJEE.htm

Email: editoriijee@ipasj.org
ISSN 2321-600X
A Publisher for Research Motivation........
Volume 2, Issue 12, December 2014
Multirate Stabilization Techniques Applied to

Hydro Turbine Power Unit to the Design of
Optimal Digital Excitation Controllers
A. K. Boglou1, E. S. Sergaki2 and D.I. Pappas3
1
Faculty of Oil & gas Technology & Mechanical Engineering, Eastern Macedonia and Thrace Institute of Technology
Kavala, Greece. Department of Informatics, Eastern Macedonia and Thrace Institute of Technology, Kavala, Greece.
2
School of Electronic & Computer Engineering, Technical University of Crete, Chania, Greece
Department of Informatics, Eastern Macedonia and Thrace Institute of Technology, Kavala, Greece.
ABSTRACT
In this paper the proposed control strategy is based on a Two-Point-Multirate Controller (TPMRC) scheme which is readily
applicable in cases where the state variables of the controlled plant are not available for feedback. TPMRC provide the ability
to reconstruct exactly the action of static state feedback controllers from input-output data, without resorting to state
estimators. In the TPMRCs based method, the control is constrained to a certain piecewise constant signal, while each of the
controlled plant outputs is detected many times over a fundamental sampling period To. On the basis of this strategy, a linear,
multivariable, time-varying, and nonminimum phase system original problem is converted to an associate discrete-time linear
quadratic (LQ) regulation problem for the performance index with cross product terms, for which a fictitious static state
feedback controller is needed to be computed. The proposed TPMRCs technique is applied to the continuous control system of a
linearized, prime-mover model, for an ideal hydraulic turbine governing system, operating in its rated speed, head etc. The
proposed discrete-time linear LQ control system is validated for its simplicity and fitness by special m-files which were built,
customized and executed in MATLAB.
Keywords:- Digital multirate control, optimal control, LQ control, hydro turbine unit.
1. INTRODUCTION
The dynamic stability enhancement of an open-loop power system model, linearized about its nominal operating point
may be achieved by designing a suitable excitation controller and thus obtaining a closed-loop system with desired
dynamic stability characteristics. The actual design of such controllers may be accomplished by using various modern
control methods. Among them, linear quadratic (LQ) optimal control methods have received considerable attention in
the past [1]-[10]. Most of these optimal control techniques, however, suffer from several serious disadvantages. It is
pointed out that the used TPMRCs [10], [11] technique converted the original LQ regulation problem to an associated
discrete-time LQ regulation problem for the performance index with crossed product terms, for which a computation
takes place for a fictitious static state feedback controller. In addition the technique offers more flexibility in choosing
the sampling rates and provides a power design computed method. On the other hand, multi rate controllers are in
general time-varying. Thus multi rate control systems can achieve what single rate cannot; e.g. gain improvement,
simultaneous stabilization and decentralized control. Finally, multi rate controllers are normally more complex than
single rate ones; but often they are finite-dimensional and periodic in a certain sense and hence can be implemented on
microprocessors via difference equations with finitely many coefficients. Therefore, like single rate controllers, multi
rate controllers do not violate the finite memory constraint in microprocessors. In particular, the control strategy
presented here is essentially a combination of the control strategies reported in [3], [11]. The control is constrained to a
certain piecewise constant signal, while the controlled plant output is detected many times over a fundamental
sampling period. The proposed control strategy relies on solving the continuous LQ regulation problem. In the present
work the TPMRC scheme is used to design a controller for an hydraulic turbine governing system (HTGS) which serves
to maintain safe, stable, and economical operation of hydropower generating unit. The ultimately investigated discrete
linear open-loop control system of the hydro power unit is obtained through a systematic procedure using a linearized
continuous, with impulse disturbances, 6th order SIMO open-loop model of an ideal hydro turbine power unit model
[17]. The digital controller, which leads to the associated designed discrete closed-loop control system, in order to
achieve the enhanced dynamic stability characteristics, is accomplished by applying properly the presented TPMRC
technique.
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2.OVERVIEW OF RELEVANT MATHEMATICAL CONSIDERATIONS
The general description of the controllable and observable continuous, linear, time-invariant, multivariable mimo
dynamical open-loop system expressed in state-space form is
x (t ) Ax(t ) Bu(t )
(1)
y (t ) Cx (t ) Du(t )
n
where: x (t ) R , u( t ) R , y (t ) R , are state, input and output vectors respectively; and A, B and C are real
constant system matrices with proper dimensions. The associated general discrete description of the system (1) is as
follows
x(k 1) Ax(k ) Bu(k )

(2)
y(k ) Cx(k ) Du(k )

n
where: x ( k ) R , u ( k ) R , y ( k ) R , are state, input and output vectors respectively; and A, B and C are real
constant system matrices with proper dimensions.
3.LQ REGULATION USING TWO-POINT MULTIRATE CONTROLLERS

This method with and HN being zero-order holds and with holding times To and TN, respectively (see Figure 1) is
presented here in a concise manner, whereas the details can be found [11], [12].
Figure 1 Block diagram of the discrete system for adjusting feed forward proportional gains.
Starting with the general linear state space system description in continuous form (2), the associated discrete system
description is obtained by letting the index i of the ni in the range of J p 1,2,..., p , and by using the observability
indices of the pair (A,C), where the sampling period To R
Also, by letting
exp(AT0)
and B N R
nxp N
(3)
, to be the full rank matrix defined by
T
B B W (T ,0) 0
N N
N o
(4)
with the generalized reachability Grammian of order N in the interval 0,To being
W (T ,0) T
N o
*1No 1
T , p rank W (T , 0)
N
N o
0
and
*
No1B
T T / N , A
o o
N
T*
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T8
A exp(AT*), B
* exp(A)Bd
N
T
0
(5)
Next follows the application of the TPMRCs technique to the above descriptions. The input of the plant are constrained
to the following piecewise constant control
*
*1 T
u(kT T ) T B u(kT ),
o
N o
p
u(kT ) R N
o
(6)
for
*
t kT T , 0,..., N 1, k 0
o
o
*
T
1
and J [0, T ), where B B ( B ) .
N
N N N
The ith plant output y i ( t ) is detected at every Ti To / M i , such that
T
y (kT T ) c x(kT T ),
i o
i
i
o
i
(7)
0,1,..., Mi 1
where M i Z , i J p are the output multiplicities of the sampling. In general M i N . The sampled values of the plant
*
outputs obtained over [ kTo , ( k 1)To ) are stored in the M -dimensional column vector ( kTo ) of the form
(kT ) [y (kT )...y (kT (M 1)T )...

o
1 o 1 o
1
1
T
y (kT )...y (kT (M 1)T )]
p o
p o
p
p
p
where M M i .
i 1
The vector ( kTo ) is used in the control law of the form
u[(k 1)T ] L u(kT ) K(kT )

o
u o
o
(8)
pN xpN
p xM
, KR N
where Lu R
.
The control lows of (5) and (7) are applied to system (1), in order to minimize the following performance index
1
J [yT (t)Qy(t )uT (t )Ru(t )]dt
20
pxp
(9)
mxm
where Q R
and R R
are symmetric matrices with Q0, R 0 while ( ACTQC) is an observable pair.
The above problem is equivalent to the problem of designing a control law of the form of equation (9), in order to
minimize the following index:
Q
N GN x kTo
T
1 T
J x kTo u kTo T
2 k 0
u kTo
G
N
N
for the system
x(k1)To x(kT ) B u(kT )

o
N o
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, N are given explicitly [15].

, G
Where Q
N
N
Theorem. The following basic formula of the multirate sampling mechanism holds
Hx k1To kTo Du kTo , k 0

where, matrices
Mi x k1T B
x kToTi A
o i,u kTo
are defined as follows
T M 1
1
c1 A
c1T B
1,0
1
c1T A
c1 B1,M11
, D
1
c
B
T Mp
p p ,0
c p A p
c p B p ,M p 1
1
cTp A
p
(10)
and where,
T Mi
T
y kToTi ci A
x k1To ci B
i
i,u kTo
i
The ultimate expressions for the control law optimal gain matrices L u and K are as follows
BT P) H1D
BT PB )1(G
Lu ( R
N
N
N
N
N
T
1
T
B PB ) (G
B P ) H 1
K ( R
N
(11)
(12)
where R N , G N and H are defined in [1], [2]. The resulting discrete closed-loop system matrix
Acl / d
takes the
following
(13)
A cl / d A ol / d B N KH
where cl=closed-loop, ol=open-loop and d=discrete.
4.STATE-SPACE MODELING
CONTROL SYSTEM
OF
HYDRO UNIT SYSTEM
AND
SIMULATION
OF THE
OPEN-LOOP
An hydraulic turbine governing system HTGS is an important part of hydropower plant. It consists of five parts, that is,
conduit system, hydroturbine, governor, mechanical-hydraulic servo system, and power generator. Water from
reservoir enters tunnel first and then flows through penstock before reaching turbine gate. Next, it flows into scroll
casing to promote the hydroturbine to rotate. The power generator and hydroturbine are connected by a shaft coupling.
Water that flows into the hydroturbine can be regulated by wicket gates, which are controlled by the governor system.
The governor system operates accordingly given the deviation between electric demand and developed torque The
HTGS is in nature a complex nonlinear, multivariable, time-varying, and non minimum phase system, which involves
the interactions between hydraulic system, mechanical system, and electrical system. The HTGS system under
investigation is shown in block diagram form in Figure 2. The models in Figure 2 elaborate prime-mover models and
are proposed in [17] for digital computer simulations and they are facilitated by the fact that manufacturers are able to
provide sufficient relevant data [18]. The necessity of prime-mover models is because, when generation or load is lost,
the response of these systems has an important effect upon tie-line loading and frequency variations [17]. The rotational
dynamic of the system is simply modelled by a lumped rotating mass with inertia H. This overall system representation
is practical since it limits the number of differential equations involved, and at the same time it allows for the proper
selection of the governor parameters, which are of primary concern for the effective damping of frequency oscillations,
etc. during system isolated operation.
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Figure 2 Block diagram representation of hydro-unit system.

The system state variables are defined in Figure 2 and for practical reasons appear in the order of most probable
measurability. The numerical values of the system parameters (see Appendix A) are derived from [19], i.e.
g = 0.3, p = 0,04, r = 10.0, w = 2.0, H = 5 s; = 0.5, = 0.05; K = 0,05 p.u.;
11 = 0.5, 12 = 0.0, 13 = 1.0, 21 = 1.5, 22 = -1.0, 23 = 1.0.
Based on the system state variables, the single output and the value of its parameters, the system of Figure 2 can be
described in state-space, in the form of equation (1), as follows:
x [x x x x x x ]
1 2 3 4 5 6
u [P]L , y x.
0
0
0
0.1
0 x 0.1
x1 0
1
0.05 0
0
0
0
0 x2 0
x2
x 0
0
0
0
0 3.3333 x3 0
3

PL
0
0
0.1 0 1.6667 x4 0
x4 0
x

0
1.0
0 1.0 6.6667 x5 0
5 0
x6 25.0 25.0 1.25 25.0 0

25.0 x6 0
1 0 0 0 0 0 x1

0 1 0 0 0 0 x2

0 0 1 0 0 0 x3
y
0 0 0 1 0 0 x4
0 0 0 0 1 0 x5

0 0 0 0 0 1 x6
Table 1 Eigenvalues of original continuous open-loop control system.
-0.0440
-0.0442+0.2048i
Original open-loop power system
-0.0442-0.2048i
model
-0.3546
-2.6507
-22.9623
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To: Out(1)
Responses
0.05
0
To: Out(2)
-0.05
0.02
To: Out(4) To: Out(3)
0
0.2
To: Out(5)
Amplitude
0.01
0.2
0.1
0
0.05
0
To: Out(6)
-0.05
0
-3
-0.2
x 10
5
0
-5
0
10
20
30
40
50
60
70
80
90
100
time (sec.)
Figure 3 Responces of the output variables of the original continuous open-loop system to input power load
disturbances PL=0.05 p.u.
5.DESIGN AND SIMULATIONS OF THE OPEN AND CLOSED-LOOP CONTROL SYSTEM

The computed discrete linear open-loop power system model, based on the associated linearized continuous open-loop
system model described in Section 3, is given below in terms of its matrices with sampling period To =0.2 sec.
1,1708 0.1591 0.1506 0.1373 0.1017 0.0019
0.1222 1.0117 0.0065 0.0109 0.0071 0.0003
2.4518 2.2795 0.7033 1.9627 0.1767 0.0105
ol /d
1.0606 0.9814 0.1346 0.0336 0.0798 0.0013
0.3989 0.4784 0.9930 0.6157 0.1539 0.0510
0.1132 0.0790 0.0570 0.0201 0.0205 0.0035

B
ol / d
0.2443 0.0130 0.3595 0.1654
0
Col/d C
0
0.1708 0.0736
0 0 0 0 0
1 0 0 0 0
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
0 0 0 0 1
The computed magnitude of the eigenvalues of the discrete open-loop control system and the simulated responses of the
output variables, are shown in Table 2 and Figure 4, respectively.
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Table 2 Magnitude of eigenvalues of discrete original open-loop and designed closed-loop control system models.
Original discrete 6th-order open-loop power
system model
0.9074 0.9074 0.9078 0.4583 0.0029 0.0
Designed discrete 6th-order closed-loop power

system model
0.8960 0.8209 0.2871 0.0 0.0053 0.0053
In the present simulation, our control objective is to solve the problem of minimizing the performance index equation
(9), using the selected weighing matrices:
a) Q =diag.(10 10 10 100 100 100)
r =1.
The K and Lu feedback matrices were computed as:
7.1840 6.4888 1.0171 4.8607 0.6584 0.0122
0.6372 1.0615 1.3718 0.3614 0.6449 0.0702
8.4194 8.4463 3.4725 7.7381 0.6812 0.1422

0.8656 1.4419 1.8633 0.4909 0.8761 0.0953
3.8018 3.7996 1.9488 3.4083 0.3646 0.1461

16 0.3935 0.6556 0.8472 0.2232 0.3983 0.0433
10
0.2453 0.4087 0.5282 0.1392 0.2483 0.0270

2.3288 2.3280 1.5328 2.0289 0.2943 0.1704 u
0.6263 0.6241 0.2561 0.5676 0.0467 0.0083

0.0637 0.1061 0.1371 0.0361 0.0645 0.0070
0.1871 0.1879 0.2708 0.1394 0.0551 0.0507

0.0219 0.0365 0.0471 0.0124 0.0222 0.0024
The output multiplicities, of the sampling are chosen as Mi=[2 4 6 7 8 12], whereas the input multiplicity of the
sampling is taken as No=8. In order to model and test the controlled discrete open-loop and closed-loop system (which
is based on the theory of Section 3, i.e. eigenvalues, eigenvectors, Riccati solutions, responses of system variables etc),
for zero initial conditions and with power input disturbances (PL.=0.05 p.u. and PL.=0.10 p.u.) special m-files were
build and further customization and tests were executed in MATLAB. The associate discrete closed-loop system
model matrices Acl/d, Bcl/d, is also computed and is given in Appendix B. By comparing the eigenvalues of the designed
closed-loop control system to those of the original open-loop control system the resulting enhancement in dynamic
system is judged as being remarkable. The responses of the output variables of the designed closed-loop control system
for model zero initial conditions and unit step input disturbance are shown in Figure 4.
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(E)
Figure 4 (A), (B), (C), (D), (E), (F): Simulation results represent the responces of the discrete control system:
(1), (3) for the open loop to step input power load changes PL = 0.05 p.u. and 0.10 respectively.
(2), (4) for the closed loop to step input power load changes PL = 0.05 p.u. and 0.10 p.u. respectively
6.CONCLUSIONS
This paper presented an optimal digital control strategy based on Two-point-Multirate Controllers in order to design a
desirable excitation controller for a linearized complex nonlinear, multivariable, time-varying, and non minimum
phase system of a an hydraulic turbine governing system HTGS, for the purpose of enhancing its dynamic stability
characteristics. The proposed method offers acceptable closed loop responses as well as more design flexibility and its
performance is at least comparable to known LQ optimal regulation methods. The clear simplicity of the TPMRC
makes that method an appropriate and reliable tool for the design of implementable optimal digital excitation
controllers for complex power plants.
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References
[1] H.M. Al-rahmani, H.M., G.F. Franklin, A new optimal multirate control of linear periodic and time-invariant
systems, IEEE Trans. Autom. Control, vol. AC-35, 1990, pp. 406-414.
[2] M. Ramamoorty, M. Arumugan, Design of optimal regulators for synchronous machines,IEEE Trans. Power
App. Syst. vol. PAS-90, 1971, pp. 269-277.
[3] A.B. Kumar, E.F. Richards, An optimal control law eigenvalue assignment for improved dynamic stability in
power systems,IEEE Trans. Power App. Syst, vol. PAS-101, 1982, pp. 1570-1577.
[4] Sagfors, M.F., Toivonen, H. T. and Lennartson B., H Control of Multirate Sampled-Data systems: Astate-space
Approach, Automatica, vol. 34, .No. 4, 1998, pp. 415-428.
[5] Srinivasarao, S. C. Patwardhan, R. D. Gudi, Nonlinear predictive control of irregularly sampled multirate
systems observers, Journal of Process Control,.vol. 17, Issue 1, 2007, pp. 17-35.
[6] T. Chen, Mizumoto, S. Ohdaira, M.K. Zenta M.K., Adaptive output feedback control of general MIMO systems
using multirate sampling and its application to acart-crane system, Automatica, vol. 43, Issue 12, 2007, pp.
2077-2085.
[7] M. Heidarinejad, J. Liu, D. Munoz de la Pena, Di J.F., Multirate Lyapunov-based distributed model predictive
control of nonlinear uncertain systems, Journal of Process Control, vol. 21, Issue 9, 2011, pp. 1231-1242.
[8] L. G. Polushin, H. J. Marquez, Multirate of sampled-data stabilization of nonlinear systems, Automatica, vol.
40, Issue 6, 2004, pp. 1035-1041.
[9] M. Cimino, P. R. Pagilla, Design of linear time-invariant controllers for multirate systems, Automatica, vol.
46(8), 2010, pp. 1315-1319.
[10] N. Komaroff, Iterative matrix bounds and computational solutions to the discrete algebraic Riccati equation,
IEEE Trans. Autom. Control, vol. AC-24, 1979, pp. 483-487.
[11] K. G. Arvanitis, An indirect model reference adaptive controller based on the multirate sampling of the plant
output, Int. J. Adapt. Control Sign. Proc., vol. 10, 1996, 673-705.
[12] K .G. Arvanitis, A new multirate LQ optimal regulator for linear time-invariant systems and its stability
robustness properties,. Int. J. Applied Mathematics and Computer Science, vol. 8, 1998, pp.101-156.
[13] C.F. Van Loan, Computing integrals involving the matrix exponential. IEEE Trans. Autom. Control, vol. AC23, 1978, pp. 395-404.
[14] R.H. Park, Two reaction theory of synchronous machines: General method of analysis. Part I. Trans. AIEE, vol.
48, 1929, pp.716-.
[15] G. Shackshaft, A general purpose turbo-alternator model. Proc. IEE, 1963, vol. 110, pp. 703-713.
[16] Anon., Procedure for the exchange of power plant and load data for synchronous stability studies, IEEE
Committee report, IEEE Trans. On PAS, Vol. PAS-100, No. 7, 1981, pp. 3229-3245.
[17] C. Concordia, F.P Demello, L.K Kirchmayer and R.P. Schultz, Effect of prime mover response and governing
characteristics on system dynamic performance, Emerican Power Conf. U.S.A., April, 1996, current version:
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[18] D.P. Papadopoulos and P.N. Paraskevopoulos, Application of eigenvalue assignment techniques for damping
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[19] D.P. Papadopoulos and A.K. Boglou,Pole-placement and Model-order Reduction Techniques Applied to a Hydrounit-system for Dynamic stability Improvement, Journal of the Franklin Institute, Vol. 3, 1998, pp. 403-417.
APPENDIX A
Nomenclature
11, 13, 21, 23 linearized hydroturbine model parameters
H inertia constant
f frequency deviation
K integral control loop gain
Pg
gate power
Pm mechanical power
PL incremental (step) load change
s
Laplace operator
transient speed droop coefficient
permanent speed droop coefficient

g gate servomotor time constant
p pilot valve time constant
r
dashpot time constant
w water time constant
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x1 frequency deviation
x2 integral loop feedback signal
x3 power at gate outlet
x4 output of transient droop compensation
x5 mechanical power
x6 output of pilot valve and servo-motor
APPENDIX B
Numerical values of matrices Acl/d and Bcl/d of the closed-loop discrete 6th -order system
0.0145 0.9115 0.3184 0.6646 0.0069 0.0001
0.0172 0.9130 0.0321 0.0698 0.0021 0.0002

0.1021 0.0996 0.2265 0.2317 0.0308 0.0062
A
cl/d 0.0198 0.0186 0.3370 0.7263 0.0123 0.0002
0.4516 0.4513 0.7812 0.4720 0.1430 0.0337
0.0238 0.0238 0.0259 0.0212 0.0049 0.0006

0.1650
0
0
0
0
0
0
0
0
0
0.0090 0.0047
0.2474 0.0808 0.0283

0
0
0
B

cl /d 0.1137 0.0334 0.0150
0.0
0
0
0.1124 0.0679 0.0562 0.0114 0.0065

0
0.0478 0.0306 0.0120 0.0016 0.0029 0.0003
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IPASJ International Journal of Electrical Engineering (IIJEE)

Web Site: http://www.ipasj.org/IIJEE/IIJEE.htm

A Publisher for Research Motivation........

Volume 2, Issue 12, December 2014

Multirate Stabilization Techniques Applied to

Volume 2, Issue 12, December 2014

IPASJ International Journal of Electrical Engineering (IIJEE)

A Publisher for Research Motivation........

Volume 2, Issue 12, December 2014

x(k 1) Ax(k ) Bu(k )

y(k ) Cx(k ) Du(k )

3.LQ REGULATION USING TWO-POINT MULTIRATE CONTROLLERS

, to be the full rank matrix defined by

Volume 2, Issue 12, December 2014

IPASJ International Journal of Electrical Engineering (IIJEE)

A Publisher for Research Motivation........

Volume 2, Issue 12, December 2014

(kT ) [y (kT )...y (kT (M 1)T )...

The vector ( kTo ) is used in the control law of the form

u[(k 1)T ] L u(kT ) K(kT )

for the system

x(k1)To x(kT ) B u(kT )

Volume 2, Issue 12, December 2014

IPASJ International Journal of Electrical Engineering (IIJEE)

A Publisher for Research Motivation........

Volume 2, Issue 12, December 2014

, N are given explicitly [15].

Hx k1To kTo Du kTo , k 0

are defined as follows

where cl=closed-loop, ol=open-loop and d=discrete.

HYDRO UNIT SYSTEM

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A Publisher for Research Motivation........

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Figure 2 Block diagram representation of hydro-unit system.

x6 25.0 25.0 1.25 25.0 0

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A Publisher for Research Motivation........

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To: Out(4) To: Out(3)

5.DESIGN AND SIMULATIONS OF THE OPEN AND CLOSED-LOOP CONTROL SYSTEM

0.1222 1.0117 0.0065 0.0109 0.0071 0.0003

2.4518 2.2795 0.7033 1.9627 0.1767 0.0105

0.3989 0.4784 0.9930 0.6157 0.1539 0.0510

0.1132 0.0790 0.0570 0.0201 0.0205 0.0035

0.2443 0.0130 0.3595 0.1654

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A Publisher for Research Motivation........

Volume 2, Issue 12, December 2014

0.9074 0.9074 0.9078 0.4583 0.0029 0.0

Designed discrete 6th-order closed-loop power

0.8960 0.8209 0.2871 0.0 0.0053 0.0053

8.4194 8.4463 3.4725 7.7381 0.6812 0.1422

3.8018 3.7996 1.9488 3.4083 0.3646 0.1461

0.2453 0.4087 0.5282 0.1392 0.2483 0.0270

0.6263 0.6241 0.2561 0.5676 0.0467 0.0083

0.1871 0.1879 0.2708 0.1394 0.0551 0.0507

Volume 2, Issue 12, December 2014

IPASJ International Journal of Electrical Engineering (IIJEE)

Volume 2, Issue 12, December 2014