Documente Academic
Documente Profesional
Documente Cultură
D. M. Skataric
E nergop roject,
Holding Co.
Bel grade, Yugoslavia
D. B. Arnautovic, Member, I E E E
Electrical Engineering I n s t i t u t e
"Nikola Tesla", Belgrade
Yugoslavia
&bs_t.rscJ-
__
Keywords -
Suboptimal c o n t r o l ; Power s t a t i o n . c o n t r o l ;
Turbine governor; Synthesis method; Computer aided design.
INTRODUCTION
Hydro power p l a n t (HPP) t u r b i n e gsverning
has bqeb
studied extensively i n t h e past. These studies hdbe
shown t h a t t h e v e r i f i c a t i o n o f t h e s t a b i l i t y and
q u a l i t y of speed r e g u l a t i o n always represents an i m p o r t a n t phase i n the design o f HPP. I n recent years, considerable a t t e n t i o n has been d i r e c t e d toward the
problem o f designing t u r b i n e governors, because o f i t s
Influence on t h e dynamic performance o f HPP.
Classical c o n t r o l theory has been widely used i n t h e
conventional approaches o f t u r b i n e governor design. On
the other hand, recent i n v e s t i g a t i o n s s t r e s s t h e great
s i g n i f i c a n c e o f modern c o n t r o l theory. Therefore the
a p p l i c a t i o n o f modern c o n t r o l techniques t o HPP
c o n t r o l , p a r t i c u l a r l y t u r b i n e governing, i s an area o f
considerable i n t e r e s t . Recent i n v e s t i g a t i o n s o f new
t u r b i n e governor design Incorporating e l e c t r o n i c and
d i g i t a l components are motivated i n p a r t by t h e expect a t i o n s t h a t new types o f governor w i l l improve t h e
q u a l i t y o f speed r e g u l a t i o n [ 1 , 2 , 3 , 4 , ] .
Digital
governors open t h e door t o many new p o s s i b i l i t i e s i n
c o n t r o l due t o t h e i r f l e x i b i l i t y and the:r c a p a b i l i t y
t o implement. more complex algorithms [ 2 , 5 , 6 ] . This work
was s p e c i f i c a l l y intended t o introduce d i g i t a l hardware
technology and more sophisticated c o n t r o l techniques t o
governing o f hydrogenerators.
91 WM 139-6 EC
A paper recommended and approved
by the IEEE Energy Development aild Power Generation
Committee of the IEEE Power Engineering Society for
presentation at the IEEE/PES 1991 Winter Meeting,
New York, New York, February 3-7, 1991. Manuscript
submitted August 7, 1990; made available for
printing January 3, 1991.
q (h,a,U,@")
(h,a,U,@")
=m
(r,q/dh)ht(hq/6a)at(dq/b,)wt(6q/69")g0=
T,h t Ta
,
t Tw
,
t T,@"
=
=
0885-8969/91/0900-0438$Ol.W@1991 IEEE
439
Q,
Synchronous
generator
Kaplan
turbine
PROBLEM
.~ FORMULATION
Guide
Runner
van e
blade
servomotor servomotor
---- - - _ - - - - - - 8
--- --------
feedback
control
LA
Ky
(7)
z
U
Hz
Dy
= -Ky - GZ
-Tw ( d q / d t )
(3)
= uou
d(i/dt
Ta,(dw/dt)
m - ml - Dw
(4)
(5)
The complete model i s obtained b y joining t h e above
equations. The model in state space form can be written
as
y
where
= Ax +
= cx
xT =
[6
Bu
a:;,
**; aZ1
a<?,
Ts/T,Ta;
= T,/(T,Tw);
ass
-l/Tr,,;
= -(T,Ts/T,-T,+D)/Ta
-ptje/Ta;
ad.< = -(Tc,TZ/Tl-T6)/Ta;
a35
bql
a%,
-(TST4/Tl-TH)/Ta
a44 = -l/Tgv
= l/Trh
J z 1/2
(9)
-DESIGN
THE
PROCECURE
.
BY
PROJE-CIIVE CONTROLS
440
Consider the problem o f designing output feedback cont r o l s f o r the linear gentralized systems described by
(61, where XER", ykR , utRm and (A,B,C) i s a controliable
and
observable
triple
with
appropriate
dimensions. The static o u t p u t regulator design problem
corisists I n determining static regulator o f t h e form
( 7 ) . while t h e dynamic output regulator design problem
consists i n determining t h e dynamic compensator and
feedback control o f the form (81, such t h a t t h e closedloop system satisfies a prescribed set o f design
specifications.
We
assume
that
the
control
specification related t o regulation and stability are
translated i n t o an appropriate quadratic Criterion (9).
The goal o f t h e static o u t p u t feedback regulator design
i s t o retain an r-dimensional invariant subspace of the
optimal state regulator i n t h e resulting closed-loop
system. Because any dynamic regulator of order p w i l l
allow an (r+p)-dimensional invariant subspace o f the
reference solution t o be retalned i n the resulting
closed-loop system, t h e mere introduction o f dynamic
regulators allows on improvement i n design.
In
addition, the remaining freedom available in t h e choice
o f regulator parameters H and D can be used t o shape
t h e complementary spectrum o f t h e closed-loop system.
Since these poles determine t h e residual dynamics it i s
sufficient t o place them i n some acceptable region i n
the complex plane, which reduces t o an o u t p u t poieplacement subproblem.
The methodology i s analytically described i n detail i n
[7,8] and, i n brief, consists I n t h e following. Let t h e
system (6) be i n t h e state 'representation such t h a t
C: = [Ir 01 and let t h e resulting state regulator be
characterized by
U
= -
s =
R-'B'~Mx, A'M
MA
MSM
r..
with
[-N I ] A b ]
I]Xr
[-N
0, and with
NA,,
= [Ir
(15)
1:: 111
parti-
if Ar
i s stable.
I n contrast t o other
BR-'B~
Ar
(10)
Y,
t E u
= A x
~e
CeXe
(A
SM)x
(11)
FX
(x:Qexe
+ u'Ru)dt
with
defining t h e desired reference dynamics. Denote by X
t h e eigenvector matrix and by A = N F ) the eigenvalue
o f F, and let X r 6 R n X r be a matrix formed from r eigengectors o f
ce =
pp
o
01
= -R-'B~MP~
(13)
XI],
(12)
= [z'
x$
P = xr(cxr)-'c
xe
f,xe,
Fe
A e - SeMe
with
(ii)
'
-~y,
K = R-'B~MX~(CX~)-'
(14)
subspace,
space o f
i.e.
AcX,=Xrhr,
where
the solution o f
Xr.
( i i i ) Eigenvalues of
Ac
Ar
441
and t h u s
HW
+ 011 =
W A
HWr
Df
W,A,
i P
(28)
with
Iw,
r
N, = [N,
where WHfRPXP, W t R P X P and X J
N,]
[V
Z]
-1
W r l
(29)
now
FeXe
XeAp,
X e t R(n*p)x(r+p
(23)
with
with Bo= V
where A
and P = L(Y-UL)-,
N r becomes N r
N - BOPc,,
NU, so that
placement
problem. Suppose
with
Net [N,
U
= -
Nr],
R - I B ~ M ~ P ~ X ~
= -Gz
R - B ~ M P ~ -Z R - ~ B M P y =
Uy
(26)
with
This control
guarantees
that
r+p
ArUAp w i l l
be
ccntrols, t o p .: n - r
ob server.
RNOR
IC
::)lved
442
wid t n e Ciosed-.-!Lwp system is derived ( I 1 ).
8.
Chec,k
A(Arj
for
various
hr
and
if
satis-
5. A inatrix X
is
choseti, formed
from
r+p
'1 4'
des(9tier i ~ o n i t ~ ) trhbe performance index o f t h e r e s u l t i l i g control system and observes and compares the
location of t h e residua! eigenvalues. The computer
aided design (CAD) interactive software program ha5
been developed based o n t h e widely used LAC (Linear
Algebra and Systems) commercial software package [ 5 ] .
is known, formed
Fe
so t h a t
from
the
eigenvectors of
F x =>' A
and has t h e form given b y (24).
el?
'
B'
0
-0.23
0
314.16
-0.594
0.566
ci
10
0.59
-1.46
0
0
2.
-0.37
1.28
._5
-0.18
0.61
0
-0.71
L .
0.711
TABLE 1
r
= [O
H y d r o Power P l a n t Data
1-1
R-'BTM]
(33)
- BKCr
(34)
Ta( s)
T.,(p.u.)
Tw(s)
2.23
T,(p.u.)
Tgv(s)
0.5
1.4
T,(p.u.
D(p.u. 1
2.
T7(p.u.)
-0.553
Tl(p.u.)
0.30
T8( P.u.)
-0.4725
T?(p.u.)
0.82
Tr,(s)
0.387
0.42
1
T,>(p.u.)
1.276
0.839
of
eigenvalues
of
the
residual
matrix
i s acceptable, i.e.
t h e matrix
i s satisfied.
The second p a r t of t h e procedure (steps 5,6,7 and 8 ) is
repeated f o r various A . From eigenvalues which make u p
t h e subset o f eigenvalues which are candidates f o r
retention i t i s necessary t o determine t h e projective
.contruls and perceive t h e determination o f t h e spectrum
o f the matrix A V < . f o r every subset Aq. From t h e set o f
s d u t i o n s obtained i n t h i s manner it i s necessary t o
:separate t h e acceptable solutions, i.e. those solutions
i n which t h e matrix A r e i s stable and choose t h e most
acceptable solution.
Tahing i s t o account t h e described features o f the
projec;;ive
c m t r o l s apgroach, i t i s ciear t h a t t h i s
methodology requi t-es an interactive t y p e o f software
env;:onmcnt. The control system designer i s involved i n
determin3tion of: optimal system per-formance index, ihva:-iant subset of eigenvalues, order and s t r u c t u r e o f
r e y u l a t w s and t h e f r e e parameter matrix Po. Alsc, t h e
443
Fietat.kitig A4=-1.66Yproduc,zs the best solution.
~ ~ a i i i eot
s t h e Liosed - ! m p s)s;em
matrix A
EIGE-,
for
case is
TABLE 2
static,r=l
A ( A'.
static,r=?
-0.3.37 j8.5
--2.02
-1 .e69
-1.714
.-1.669*
--0.d6
1
-0.7
:a
NAc)
dynamic
A(AI
<l)
and r
2 eigenvalues o f t h e optimal solution can be
retained. There are f o u r possible combinations for t h e
suboptimal
solution:
A I , ,<:
(kd,X4),
(Ad,X5)
and
(A4,X5J.
Examing
all
four,
we
find
-3.663.
0.647j3.5 *
-0.
7 0 59.06
~ ~
--1.68+J0.19 -2.02*
-1.68-j0.19 -1.659*
-0.122
-3.1 1 1
= [ 4.1
(1).
retained eigenvalues
C.
-0.726
''f '
first
System Eigenvalues
C o n t r o I I e r ci:
h(F)
-0.64Tj 8.5
fijr
[-I.%].
L:
-__--____
tni;
that
the
best
is retained.
for
case,
(1)
.0039
0.
Y
3007
aJ
E
I
(1)
(2)
fa
- .0054
(3)
(4)
- .0100
2.5
5.0
Time
an
has
---.-.,.,. ...........
7.5
10.
(5)
444
and settling times f o r all study cases are given i n
TABLE 3
m
r
e
type of
governor
conventional
static,r=l
static,r=2
dynamic,r=l,p=l
peak value
(P.U.)
REFERENCES
____.
settling time
0.0086
0.0083
0.0078
0.0078
(SI
18.9
16
8.2
6.8
111 T.
Sontakke and T. Basu, "Improvement i n the Tran-sient Response of a Hydrosystem by Compensation and
Stabilizing
Signal,"
Electric
Power
System
Research, No 4, pp. 213-223. 1981.
25-28, 1986.
C. Sanathanm, "Double Loop Control of Hydro Turbine Unit," Water Power & Dam Construction, MO 12.
PP. 25-27, 1988.
CONCLUSION
The described methodology permits the design o f multrvariable static and low-order dynamic t u r b i n e governors
i n hydropower plants with Kaplan turbines. It i s based
on projective controls and provides a systematic design
of the control loop with an increasing number o f available measurements and of the dimeiision o f the controller. The corresponding CAD interactive software program
i s developed which i s based on the LAS software
pacbage. The main iiumerical requirements are related t o
eigenvalue/eigenvector calculations, f o r which adequate
cornoutational tools exist.
369, 1980.
161 P. Ham and N. Green , "Developments and Experience
i n Digital Turbine Control," IEEE/PES 1988 Winter
Meeting, New York, 88,WM 236-2, 1988.
[ 7J
183
J. Medanic,
Design o f Low Order Optimal
Dynamic, Regulators f o r Linear Time Invariant
Systems," Proc. Conf. on Information Theory and
Systems, Johrr Hopkins University, pp. 97-102, 1979.
-NOMENCLATURE
- ~ _ _
T -T,
t u r b i n e flow, P.U.
t u r b i n e torque, p.u.
steady state head, P.U.
guide vane opening, p.u.
machine speed, p.u.
runner blade angle, deg.
turbine flow and torque coefficients, p.u.
F,
waterhammer, p.u.
9
m
'
h
a
0
4"
T"
(5
mr
Ta
D
uc
TW
Tr h
x
U
Y
A
B
C
z
P
H,D
K,G
J
Q,R
M
P
x
A
"
_____
BIOGRAPHIES