Turbines and speed governors

Turbines and speed governors

November 2012

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Turbines and speed governors

Steam turbines

Steam turbines

SG: speed governor

CV: control (or high pressure) valves

IV: intercept valves

MSV, RSV: main stop valve and reheater stop valve

Turbines and speed governors

Steam turbines

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Turbines and speed governors

Steam turbines

Assumptions: power developed in one turbine stage steam ow at exit of that stage steam ow at entry of HP vessel valve opening z steam pressure pc steam ow at exit of a vessel follows steam ow at entry with a time constant per unit system: each variable is divided by the value it takes when the turbine operates at its nominal power PN . Time constants are kept in seconds.

THP

0.1 0.4 s fHP 0.3

TR 4 11 s fMP 0.4

TLP 0.3 0.5 s fHP + fMP + fLP = 1

Turbines and speed governors

Steam turbines

Interactions between turbine and boiler for large disturbances, the change in steam ow dHP results in an opposite change in steam pressure pc taking this into account requires to model the boiler and its controllers hereafter, a brief overview of boiler and turbine control modes

Boiler-following regulation

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Turbines and speed governors

Steam turbines

Turbine-following regulation

Coordinated or integrated regulation

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Turbines and speed governors

Steam turbines

Example: responses to a demand of large production increase; comparison of the three regulations

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Turbines and speed governors

Speed governors of steam turbines

Speed governors of steam turbines

z : opening of control valves (0 < z < 1 in per unit) z o : valve opening setpoint (changed when power output of unit is changed) : permanent speed droop (or statism)
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Turbines and speed governors

Speed governors of steam turbines

The non-windup integrator

= = =

0 0 u

si x = xmax et u > 0 si x = xmin et u < 0 sinon

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Turbines and speed governors

Speed governors of steam turbines

Equivalent block-diagram

Tsm = 1/(K )

servomotor time constant (

a few 101 s)

A little more detailed model

Tr : time constant of speed relay (additional amplier) ( 0.1 s) a transfer function (1 + sT1 )/(1 + sT2 ) may be used to improve dynamics block 2 accounts for nonlinear variation of steam ow with valve opening block 1 compensates block 1
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Turbines and speed governors

Speed governors of steam turbines

Steady-state characteristics turbine: pc = 1 pu speed governor: assuming z is not limited: z = zo 1 Pm = z

and referring to the system frequency f (in Hz) with nominal value fN (in Hz): z = zo combining both: Pm = z o f fN fN f fN fN

z o seen as a power setpoint, in pu on the turbine power.

Turbines and speed governors

Hydraulic turbines

Hydraulic turbines
Action (or impulse-type) turbines The potential energy of water is converted into pressure and then into kinetic energy by passing through nozzles. The runner is at atmospheric pressure. The high-velocity jets of water hit spoon-shaped buckets on the runner. Pelton turbine

used for large level dierences (300 m or more)

Turbines and speed governors

Hydraulic turbines

Reaction turbines

The potential energy of water is partly converted into pressure. The water supplies energy to the runner in both kinetic and pressure forms. Pressure within the turbine is above atmospheric. Require large water ows to produce signicant powers. Rotation speeds are lower than with impulse turbines.

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Turbines and speed governors

Hydraulic turbines

Francis turbine

for heads up to

360 m
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Turbines and speed governors

Hydraulic turbines

Kaplan turbine

for heads up to 45 m variable-pitch blades can be used (angle adjusted to water ow to maximize eciency) mainly used in run-of-river hydro plants

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Turbines and speed governors

Hydraulic turbines

Bulb turbine

for small heads mainly used in run-of-river hydro plants

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Turbines and speed governors

Hydraulic turbines

Simple model of a hydro turbine Assumptions: water assumed incompressible pressure travelling waves (hammer eect) neglected

specic mass of water (kg/m3 ) g gravity acceleration (m/s2 ) Q water ow (m3 /s) E energy provided by 1 m3 of water (J/m3 )
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Turbines and speed governors

Hydraulic turbines

Potential energy contained in 1 m3 of water in upper reservoir: Epot = gHs Total power provided by water (a part of which goes in losses): P = gHs Q Lets dene the head: H= E g

(m)

where E is the energy delivered by 1 m3 of water. Total power provided by water (a part of which goes in losses): P = EQ = gHQ in steady state : H = Hs during transients : H = Hs

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Turbines and speed governors

Hydraulic turbines

Basic relationships:
1

mechanical power provided by turbine, taking into account losses in conduites, etc.: Pm = gH (Q Qv ) < P water ow: z : section of gate (0 z A)

Q = kQ z H

acceleration of water column in conduite: LA dv = gA(Hs H ) dt

Q = Av

dQ gA = (Hs H ) dt L
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Turbines and speed governors

Hydraulic turbines

Passing to per unit values base of a variable = value taken by variable at nominal operating point of turbine: mechanical power Pm = nominal power PN of turbine head H = height Hs gate opening z = A water ow Q = nominal value QN water speed v = QN /A At nominal operating point: PN = gHs (QN Qv ) Normalizing the power equation: Pm pu = with KP = H Q Qv H QN Q Qv = = KP Hpu (Qpu Qv Hs QN Qv Hs QN Qv QN
pu )

Q N = kQ A H s

1 1 Qv

pu
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Turbines and speed governors

Hydraulic turbines

Normalizing the ow equation: Qpu = zpu Normalizing the water acceleration equation: dQpu g AHs Hs H 1 = = (1 Hpu ) dt L QN Hs Tw where Tw = L vN L QN = is the water starting time at nominal operating point. g AHs g Hs Hpu

Tw = time taken by water, starting from standstill, to reach nominal speed under the eet of head Hs (0.5 - 4 s)

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Turbines and speed governors

Hydraulic turbines

Response of a hydro turbine to small disturbances Small disturbances around operating point (z o , H o = 1, Q o ). Transfer function between z and Pm ? zo H o z + H Q = 2 Ho sTw Q = H Pm = KP H o Q + KP (Q o Qv )H

Eliminating Q and H yields: Pm = KP (H )

(Q o Qv ) Tw s zo Ho z T 1 + s 2w

zo where Tw = Tw is the water starting time at the considered operating point. Ho If Qv is neglected: Pm = KP (H o )3/2 1 sTw 1+s
Tw 2

z
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Turbines and speed governors

Hydraulic turbines

non-minimum phase system: zero in right half complex plane initial reaction opposite to nal reaction Example: response Pm to step change in gate opening of magnitude z :

t 0

lim Pm (t ) = lim sKP (H )

o 3/2

(Q o Qv ) sTw zo Ho T 1 + s 2w

Z (Q o Qv ) = 2KP H o Z s zo

initial behaviour: inertia of water speed v and ow Q do not change head H decreases mechanical power Pm decreases after some time: Q increases and H comes back to 1 Pm increases

non-minimum phase systems may bring instability when embedded in feedback system
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Turbines and speed governors

Hydraulic turbines

Speed governors of hydro turbines presence of a pilot servomotor: Tp 0.05 s K 3 5 pu/pu

with 0.04, the turbine and speed governor would be unstable when the hydro plant is in isolated mode or in a system with a high proportion of hydro plants rst solution: increase the power plant will participate less to frequency control not desirable other solution: add a compensator that temporarily increases the value of
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Turbines and speed governors

Hydraulic turbines

In the very rst moment after a disturbance: lim + s Tr =+ 1 + sTr

= 0.04,

0.2 1.0, temporary statism = 6 - 26 permanent statism

In steady state: lim + s Tr = 1 + sTr

s 0

Tr : reset time: 2.5 25s characterizes the time to come back to steady-state statism. In some speed governors, the transfer function K 1 + sTr 1 + s (/ )Tr

is used in the feed-forward branch of the speed governor

Turbines and speed governors

Case study. Frequency regulation in an isolated system

Case study. Frequency regulation in an isolated system

hydro plant: generator: 300 MVA, 3 rotor winding model turbine: 285 MW, Tw = 1.5 s Qv = 0.1 automatic voltage regulator: static gain G = 150 exciter: time constant Te = 0.5 s speed governor: = 0.04
mechanical-hydraulic : K = 4 PI controller: see slide 29 z min = 0.02 z max = 0.02 pu/s Tp = 0

load: behaves as constant impedance, insensitive to frequency 5 % step increase of admittance at t = 1 s

Turbines and speed governors

Case study. Frequency regulation in an isolated system

Mechanical-hydraulic speed governor with compensation: = 0.5

Tr = 5 s

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Turbines and speed governors

Case study. Frequency regulation in an isolated system

Mechanical-hydraulic speed governor without compensation ( = 0.)

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Turbines and speed governors

Case study. Frequency regulation in an isolated system

Speed governor with PI control

servomotor: K = 4 z min = 0.02 pu/s PI controller: Tm = 1.9 s Kp = 2

z max = 0.02 pu/s Ki = 0.4 = 0.04

Tp = 0

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Turbines and speed governors

Case study. Frequency regulation in an isolated system

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Turbines and speed governors

Case study. Primary and secondary frequency regulation

Case study. Primary and secondary frequency regulation

primary frequency control: left area: generator 2 (PN = 850 MW, = 0.05) left = 283.3 MW.s right area: generator 4 (PN = 850 MW, = 0.05) right = 283.3 MW.s secondary frequency control: left area: generator 1 (PN = 850 MW) right area: generator 3 (PN = 850 MW) o regulates P78 , the active power ow in tie-lines 7-8, to P7 8 = 400 MW
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Turbines and speed governors

Case study. Primary and secondary frequency regulation

f1 (resp. f3 ) : frequency in left (resp. right) area (Hz) obtained from rotor speed of gen. 1 (resp. 3) (available in pu) ACE left (resp. ACE right ) : Area Control Error of left (resp. right) area (MW)
1 3 Pc (resp. Pc ) : power setpoint correction sent to gen. 1 (resp. 3) (MW)
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Turbines and speed governors

Case study. Primary and secondary frequency regulation

5 % step increase of load at bus 9. Primary frequency control only

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Turbines and speed governors

Case study. Primary and secondary frequency regulation

Same load increase. Primary and secondary frequency control (left = 283.3 right = 283.3 Kileft = Kiright = 0.02)

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Turbines and speed governors

Case study. Primary and secondary frequency regulation

Same load increase. Adjustment of power of gener. 1 by secondary frequency controller of left area, for various values of left

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Turbines and speed governors

Case study. Primary and secondary frequency regulation

At t = 1 s, the areas decide to decrease their power exchange to 300 MW. o Load demand is unchanged. P7 8 is set to 300 MW.

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