eeh power systems

laboratory

Power System Dynamics and Control

Exercise I: Hydro Turbine

Time: 16 April 2013, 10:15 - 12:00

Location: ETZ - D61.1

Assistants:
Theodor Borsche
Roger Wiget
Philipp Fortenbacher
dynamicsandcontrol@eeh.ee.ethz.ch
Power System Dynamics and Control Exercise I: Hydro Turbine

Introduction
In a power generating plant, an energy supply, prime-mover, electric generator and exciter,
as well as frequency and voltage control equipment, are essential subsystems which operate
in concert to generate power under voltage and frequency regulation. The physical and
electrical properties of the subsystems, operating together as an internal plant, determine
the plants characteristic dynamic behavior. These physical and electrical properties can
usually be described by electrical equivalents and these latter models are typically used to
study the plants characteristic dynamic behavior through computer simulation.
The aim of this task is to study and learn
the characteristic dynamic behavior of a hydro power generation plant

its associated frequency control requirements

Simulink as a dynamic simulation tool

Figure 1 shows the physical model of a hydro power generating plant. This physical model
can be organized into various subsystems that are interrelated by a system model as shown
in the figure. Here we use three subsystems.
The Penstock-Turbine System

Generator-External Power System (System Inertia)

Governor Control System

The excitation system is omitted in this representation. Each of these subsystems in
figure 1 is represented by its respective electrical model as shown in Figures 2, 3, 4.
In our study, computer simulations based on these electrical models will be employed
omitting the excitation system.
The simulink implementation of the models shown in Figures 2, 3 and 4 are contained in
the file ExerciseLibrary 2012.mdl, which is provided during the exercise.

Simulink hints
As some of you may be working with simulink for the first time, here a few hints
Simulink is a MatLab toolbox. To start simulink, start MatLab and type simulink,
or double-click in MatLab on the *.mdl-file provided during the exercise

The blocks we provide for the governor, turbine and plant are simulink models them-
selves. To access their implementation, right-click on the block and choose Look
under mask

To set parameters, double-click on the blocks

You can define variables in the MatLab workspace and use them within simulink

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 Penstock Exciter

Hydro-Turbine System Inertia

Power System Dynamics and Control

Gate Hydro Turbine Generator

3
Governor

Governor System

Figure 1: System Model of Hydro Plant

Exercise I: Hydro Turbine
Power System Dynamics and Control Exercise I: Hydro Turbine

gate q

q
gate


q
2
1
Pm
gate
=h -
+
1
s

Tw

h0

Parameters
Water Time constant Tw = 1.4 s
Rated head h0 = 1 p.u.

Figure 2: Penstock and Turbine

Pm

+
1 1 +

- 2H s +

ss

PL
+ + D

Parameters
System Inertia Constant H = 3.0 MW
MVA
s

System Damping Constant D = 0.01

Figure 3: System Inertia

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Power System Dynamics and Control Exercise I: Hydro Turbine

Sp,lim gmax
1
gate
+ 1
- Tg s

Sp,lim gmin

+
+ RS

sRT TR
1+sTR

transient droop

Parameters
Steady-state droop RS = 0.4
Transient droop gain RT = 0.8
Transient droop reset time TR = 5 s
Gate maxmimum limit gmax = 1.0 p.u.
Gate minimum limit gmin = 0.0 p.u.
Servo time constant Tg = 0.2 s
Servo limit Sp,lim = 0.3

Figure 4: Hydro Governor

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Power System Dynamics and Control Exercise I: Hydro Turbine

1 Hydro Turbine Response without Governor Control

In this task, we will study the relationship between the gate opening and turbine output power
without governor control in order to determine the dynamic behavior of the penstock-turbine
subsystem.

a) Open a new window (model) in Simulink and copy a penstock-turbine subsystem from
the ExerciseLibrary 2012.mdl. Assume that the gate is initially 50 % open. Set the
initial flow q0 to an appropriate value. After one second, apply a step signal to the
gate with an increase of 0.1 p.u.. Simulate for 5 seconds and plot the following signals
gate signal gate [p.u.]
equivalent head h [p.u.]
output power Pm [p.u.]
flow q [p.u.]

b) Repeat the same procedure as in 1 a), but using a ramp gate signal with a ramp rate
of 0.1 p.u. in 1 second, as shown in Figure 5.

u [p.u.]
0.7

0.5 ufinal = 0.4

0.4

0.2

t1 = 1 s t2 = 2 s t

Figure 5: Ramp Signal

c) Describe the dynamic behavior of the penstock-turbine subsystem associated with the
initial 3 seconds after gate input signals of a) and b) are applied.

d) Give a physical reason why the dynamic behavior of the penstock-turbine subsystem is
as such.

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Power System Dynamics and Control Exercise I: Hydro Turbine

2 Steady-State Droop
Now, the behavior of the hydro governor without transient droop feature will be studied,
both theoretically and by simulation.

a) First, an analysis is made to determine the critical steady-state droop (Rss,c ) value
required for stable operation of the system without the transient droop feature. To
make the analysis easier, a simplified hydro power system model is used, which is shown
in Figure 6. Here, the governor without the transient droop feature is represented as
a simple gain, the penstock-turbine as classical linearized model, and system damping
D is assumed to be zero.

Governor Penstock-Turbine System Inertia

ref 1 1sTw 1
+
- RS 1+ 21 sTw 2Hs

Figure 6: Simplified Hydro Power Plant

Based on standard feedback control theory, find the critical value of steady-state droop
Rss,c , required for stable operation of the hydro power system shown in Figure 6.
Hint: For a system to be stable, it is required, that the real part of all the roots of
its transfer function are negative, i.e the roots lie on the left hand side of the complex
s-plane. You can use the MatLab command rlocus.

b) Use the models given in ExerciseLibrary 2012.mdl to build the complete system.
Set the transient droop gain RT to zero to disable the transient droop feature.
Use two values for the steady-state droop value RS = 0.85 Rss,c and RS = 1.15 Rss,c .
Assume that the system is in steady state with an initial load of 0.5 p.u.. The frequency
of the system is at 50 Hz (no disturbance). Define the initial states of the system (that
is, gate opening and flow).
After the system has been initialized, apply a 10 % increase in the system load and
simulate for 50 seconds. For both cases of the droop, plot PL , pu and all hydro turbine
signals as described in task 1 a).

c) What can we conclude from results of b)? Suggest a reason why this value of droop
can not be used on a hydro governor, even though it gives a stable operation.

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Power System Dynamics and Control Exercise I: Hydro Turbine

3 Transient Droop
Finally, the effect of transient droop is studied. The values of steady-state droop and transient
droop are now restored to their specified values as they are given in Figure 4. Use the same
values of ss and Pmss as given in task 2 b). Apply a 10 % step decrease in system load for
3 a) and 3 b).

a) Simulate for 50 seconds and plot pu and all hydro turbine signals as described in Task
1 a). Explain the function of transient droop.

b) Try to find values of RT and TR to obtain a well regulated response, i.e. an overshoot of
system frequency with a maximum amplitude less than 0.075. Simulate for 50 seconds
and plot pu and all hydro turbine signals as described in task 1 a).
Hint: For stable operation, the optimum choice of transient droop gain RT and tran-
sient reset time TR is related to the water starting time Tw and mechanical starting
time TM = 2H as follows [1]:

Tw
RT = (2.3 (Tw 1.0) 0.15)
TM
TR = (5.0 (Tw 1.0) 0.50) Tw

References
[1] P. Kundur, N. J. Balu, and M. G. Lauby, Power system stability and control, ser. The
EPRI power system engineering series. New York: McGraw-Hill, 1994.