Hydroelectric turbine 2015

Analysis of hydroelectric turbine

Negussie Negash Dera ID RM0709/07 Power Engineering Student, Jimma University, JImma, Jimma,
Ethiopia

ABSTRACT— Any electricity generation power plant

consists of turbine connected to synchronous
2 INTRODUCTION
generator, which is connected to public grid. The
In the universe there are two types of energy sour ces.
amount of the power generated and the quality of the
power directly or indirectly depend on the turbine. They are renewable and nonrenewable energy. For
Therefore during the installation hydroelectric power both of them the ultimate sources are the sun, gravity
plant the analysis and consideration of turbine is very and the earth’s rotation.
important. In this paper the type of turbine from different
Non-renewable energy sources: fossil fuels (coal,
perspective views, modeling and analysis of hydroelectric
turbine is addressed. Using MATLAB SIMULINK the oil, natural gas)
characteristics of hydro turbine presented.
Definition: Nonrenewable energy is energy obtained
Keywords – Hydro power plant, Synchronous from static stores of energy that remain bound unless
machine, Hydro Turbine, PID controller released by human interaction. Nonrenewable energy
supplies are also called finite supplies.
1 NOMENCLATURE
Renewable energy sources: solar energy, wind
PID---proportion, integral, derivative energy, Hydropower, biomass sources; geothermal
E – Energy energy are seasonally and slowly recovered energy

H--- Height of the head sources.

G—Gate position Definition: Renewable energy is the term used to

∆ –water velocity m/s cover those energies that occur naturally and
repeatedly in the environment and can be harnessed
Pm---- mechanical power
for human benefit. This energy is converted to
Tw—water starting time
electricity by different conversion technology. [8] [6]
Q -Water discharge (m3/s [3]

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operating point of view. The dynamic behavior of

hydro power plants is determined by the transients of
water flow in the water column. The energy
conversion process in turbine involves only non-
dynamic characteristics.

3.1 SOME ILLUSTRATION OF HYDROELECTRIC

PLANT COMPONENT
Reservoir: - place where the potential of the
collected. It also called a dam

Penstock:-The penstock is a conduit used to carry

water from the dam or reservoir to the turbine

Runners: - They translate the linear motion of the

water into rotational motion by the use of blades or
buckets. Governor:-This is the system that
automatically monitors and maintains the speed of
Figure 1 energy conversion method [8] the hydraulic unit. It is also used to synchronize the
generator to the system frequency (Hz) for
3 HYDROELECTRIC POWER PLANT
connection to the power grid, and to shut down the
Hydropower has now become the best source of unit in the event of a sudden loss of load.
electricity on earth. It is produced due to the energy
Wicket Gate:-These are angularly adjustable,
provided by moving or falling water. History proves
streamlined components that direct and control
that the cost of this electricity remains constant over
(throttle) water flow to the runner in reaction-type
the year. Because of the many advantages, most of
hydroelectric turbines. They are regulated by the
the countries now have hydropower as the source of
governor via mechanical-hydraulic or electro
major electricity producer. The most important
hydraulic controls.
advantage of hydropower is that t is green energy,
which mean that no air or water pollutants are Needle Valve:-The needle valve is used to regulate
produced, also no greenhouse gases like carbon the flow of water to the runner in impulse-type
dioxide are produced which makes this source of hydroelectric turbines, and is regulated by the
energy environment-friendly. It prevents us from the governor via mechanical-hydraulic or electro-
danger of global warming. Even if some countries hydraulic controls.
take mass hydroelectric power plant as nonrenewable
Inlet Valve:-The inlet valve is located upstream of
energy, most of the countries through the world take
the turbine and is used to cut off the flow of water in
as renewable energy.
the event of an emergency or for maintenance. These
Hydroelectricity is an important source of renewable valves are often spherical or butterfly valves, and are
energy and provides significant flexibility from usually operated by hydraulic power units.

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Main Guide bearing:-This bearing is located closest The composite water column inertias and elasticity of
to the turbine runner and radially supports the these structures contribute to the water hammer effect
rotating runner and shaft assembly. Many designs that impacts the performance of the turbine governing
incorporate an upper and lower guide bearing.[8] system.

Wicket gates are adjustable and pivot open around

the periphery of the turbine to control the amount of
water admitted to the turbine. These gates are
adjusted by the servo actuators which are controlled
by the governor.

4 HYDRAULIC TURBINES

Hydraulic turbines derive the potential energy of the

fluid into kinetic energy and a conversion of kinetic
energy, or both kinetic and potential energy, into
useful work. Hydraulic turbines derive power from
the force exerted by water as it falls from an upper to
a lower reservoir. Hydraulic turbines are divided
Figure 2 hydro electric power plant
according to their hydraulic action into two main
Simplified schematic of a hydroelectric power plant classes: impulse turbines and reaction turbines.
with reaction turbine

Thrust Bearing:-The thrust bearing carries the 4.1 IMPULSE TURBINES

An impulse turbine has a runner with numerous
weight of the turbine and the generator’s rotating
spoon‐shaped ―buckets‖ attached to its periphery,
parts for vertical turbine designs. It can be located
which are driven by one or more jets of water issuing
directly above or beneath the generator rotor.
from fixed or adjustable nozzles. The kinetic energy
Horizontal designs may have two thrust bearings, or a
is in the form of a high‐speed jet that strikes the
double-acting thrust bearing to carry the axial thrust
buckets, mounted on the periphery of the runner. As
in both directions.
the water after striking the buckets falls into the tail
From the reservoir, water is drawn from an area water with little remaining energy, the casing can be
called the forebay to the turbine through the water light and serves the purpose of preventing splashing.
column. The water column comprises all of the
This turbine is used for high heads up to 300 meters
structures used to convey water from the forebay to
and more. Example this type of turbine is a Pelton
the turbine. It may include an intake structure, a
turbine.
penstock, one or more surge tanks, and a spiral case.

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kinetic energy of water because of the difference in

pressure between the front and the back of each
runner blade as the water flows through the runner.
The water pressure can apply a force on the face of
the runner blades. The turbine casing, with the runner
fully immersed in water, must be strong enough to
withstand the operating pressure.
Figure 3Pelton turbine
In this turbine the pressure within the turbine is above
4.2 REACTION TURBINES atmospheric; the en energy is supplied by the water in
In reaction turbines, the entire flow from the both kinetic and potential (pressure head). Examples
headwater to tail water takes place in a closed conduit
this turbine is Francis and Kaplan turbine
system. Reaction turbines extract power from the

Figure 5Kaplan turbine

Kaplan turbine: -For high-flow, low-head power

Figure 4Francis turbine
production. [4][5][7]
Francis turbine: -For a head range from 20 meters to
700 meters and their output power varies from just a
4.3 MAIN CHARACTERISTICS OF HYDRO TURBINE
few Kilowatts up to a gig watt. When water flows from high elevation to the hydro
turbine, gravitational potential energy is converted
into kinetic energy. Then, the turbine shaft, obtaining
mechanical energy from the conversion, drives the
machine to generate electricity. In a turbine, the
power is controlled by regulating the flow into the
turbine using the position of the gates or nozzles.
This regulation is realized by the turbine governor,
which is also called the speed governing system, or
turbine governing system.

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This is basic equation for the model of hydroelectric

turbine modeling.

� = �, � = , = �� , � �=� 2

Power is the rate of energy. There fore

�� �
�= = 3

� 3
But � �� � � � �
Figure 6Functional block diagram turbine and governor �

The water flow rate is direct proportional to the

5 MODEL OF HYDROELECTRIC TURBINE
square of the height of the head at the gate and gate
The dynamic performance of a hydraulic system is position.
affected by the turbine penstock characteristics which
are determined by water inertia, water Thus ∝ change the proportionality to

compressibility, and pipe wall elasticity in the equality then we have

penstock. The effects of each component need to be

= 4
modeled carefully to study their impact on the system
dynamic performance. For example, water inertia Where
causes changes in turbine flow to lag behind changes U=water velocity
in turbine gate opening, and the travelling waves of
pressure and flow involving a compressible fluid = proportional constant

in an elastic pipe lead to the water hammer G = gate position

phenomenon.
H =hydraulic head gate

5.1 MATHEMATICAL MODEL OF For very small displacement operation

HYDROELECTRIC TURBINE
The mechanical power developed by the turbine is � �
∆ = ∆ + ∆ 5
proportional to the product of the flow rate, the head � �
and the efficiency. The power is controlled by Because the variable is only gate position and height
regulating the flow into the turbine by wicket gates of the head at gate position.
on the reaction turbines and by a needle on the
impulse turbine. The nominal power is given by the Substituting the appropriate expression for the partial

following equation. derivation get

� = �� � 1

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� � Substituting the appropriate expression the

∆ = ∆ + ∆
� � normalizing we have
∆
= + ∆ 6 � �
2 ∆� = ∆ + ∆ 11
� �
Dividing this expression by the initial flow rate of the
water we get the following the expression
∆� = ∆ + ∆ 12
∆
∆ = 2
+ ∆
Then dividing by the initial value
∆ =
∆� ∆ + ∆
After cancellation =
�
∆ ∆ ∆
= + 7 ∆� ∆ ∆
∆ 2 = + 13
�
Equivalently we can rewrite the equation as
Normalizing the equation
1
∆ = 2∆ + ∆ 8

Where the subscript o is indicate the initial steady ∆� = ∆ + ∆ 14

state value and the super bar is indicates the
Substitute the equation for ∆ then we have
normalized value
1
The turbine mechanical power is proportional to the ∆� = ∆ + 2∆ + ∆ = 1.5∆ + ∆ 15

flow rate of water and the head at the position of gate

Once again substituting for the ∆ from equation of
� ∝ flow rate of water

Changing the proportionality to equality then we

have
∆� = 1.5∆ + ∆ 16
� = 9
But

Where

= the proportionality constant

∆ = 2∆ − 2∆ 17

Considering for very small displacement operation Then

�� ��
∆� = ∆ + ∆ 10 ∆� = 1.5 2∆ − 2∆ +∆
� �
∆� = 3∆ + 2∆ 18

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From this equation justify that the mechanical power

of the turbine is depend on the rate flow of the water
and gate position of the valve. Tw = 23

The acceleration of the water column due to a change

Here Tw is referred to the water starting time. It is
in head at turbine is characterized by Newton’s
representing that the time required for a head to
second law of motion.
accelerate the water in the penstock from stand hill

= = −� � ∆ 19 velocity . Tw is vary with a load. For a full load it

lies between 5.0 s and 4.0 s. this equation explain that
But when the back pressure is applied at the end of the

=� 20 penstock by closing the gate, then the water in the

penstock will decelerate. That is if positive pressure
∆
=� � = −� � ∆ 21 change there is a negative acceleration change.

∆
Where Tw = −∆ =2 ∆ −∆

� = mass density of water

Normalizing this equation we have
L= length of conduit
Tw ∆ = 2 ∆ −∆ 24
A = area of pipe

∆ Appling a Laplace transformation then

= acceleration flow of water
Tw ∆ =2 ∆ −∆ 25
� ∆ = incremental change in pressure at
Rearranging the equation then we have
turbine gate
1
t= time in second ∆ = 1 ∆ 26
1+2
Normalizing the acceleration equation dividing by
initial condition Substitute for ∆ from equation

∆ ∆� + 2∆
� � −� � ∆ =∆ 27
= 3
�� ��
Then
Simplifying the expression then
∆� + 2∆ 1
= ∆
∆ ∆ 3 1
1+2
= − 22

Rearranging the equation then we have

∆
Tw = −∆
∆� 1−
= 28
∆ 1+2
1
Where

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This equation is represents the classical transfer

function of turbine. It shows how turbine out changes
within the change of gate opening for ideal lossless
turbine. [1]

6 PID CONTROLLER

Three-term controller with proportion-integral-

derivative (PID) action is often implemented in
electro hydraulic governors. It calculates the error
values between the measured process variable and a
desired set point of ∆ . The controller attempts to
minimize the error by adjusting the process control
input.
The proportional term controls the present state by
means of multiplying the error with a negative
Figure 8 Gate speed without PID
constant and adding to the desired set point.

The derivative controller responds to system changes;

the larger the derivative value is, the faster the
response becomes. The derivative action is beneficial
for isolated operation, particularly for plants with
larger water starting time ( =3s or more). This is
the reason for the minimum limit imposed on the
value of = or directly setting to zero. Suitable
parameters for PID controller; typical values are =
3.0, � = 0.7. [5]

Figure 9 speed turbine without PID

Figure 7 Block diagram of simulink without PID

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\Figure 10 speed of synchronous generator without

PID
Figure 12 speed of gate with PID
Result shown
As the gate position increases speed of the turbine is
slightly increase. This intern increases the speed of
the generator slightly as shown above.

Block diagram of hydro turbine with PID controller

Figure 13 turbine speed with PID

Figure 11 simulink diagram of hydro electric turbine with

PID

Results simulation of hydro turbine characteristic

with PID

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8 REFERENCES

[1] P. KUNDUR, Pwer system stability and

control, colombia.

[2] Hydro Turbine and Governor Modeling and,

September 23, 2011.

[3] M. Sattouf, "Simulation Model of Hydro

Power Plant Using Matlab/Simulink," Mousa
Sattouf Int. Journal of Engineering Research
and Applications, vol. Vol. 4, no. Issue 1,
anuary 2014.

[4] L. A. L. Tenorio, "Hydro Turbine and

Governor Modelling," Norwegian University
Figure 14 synchronous generator speed with PID of Science and Technology, June 2010.
Here when we see the result of turbine system using
[5] R. A. Naghizadeh, "Modeling Hydro Power
PID for the same data the gate increase linearly and Plants and Tuning Hydro Governors,"
the turbine speed no more negative when compared International Review on Modelling and
to result without PID. Simulations, vol. Vol. 5, August 2012 .

[6] U. d. o. t. i. b. o. r. p. s. office, "managing

water in the west hydro power electric".
USA july, 2005.
7 CONCLUSION
[7] I. p. a. e. society, "Dynamic Models for," IEEE
During the design and installation of hydro power
2013 The Institute of Electricaland Electronic
plant studying the characteristics of turbine is the non Engineers, Jan 2013 .
closable option. In this paper the modeling of the
turbine, its transfer function is addressed. [8] T. A. W. (MSc.), Writer, Generation Planning
and Design. [Performance]. Adama Science
Accordingly the good out of power is directly
and Technology University, July, 2013.
depending on the characteristics of the turbine for
example starting time of water. This also depends on
the gate position and height of the water. Other
important point is the tuning of turbine. In any plant
system controlling is very important. As discussed in
this paper, tuning of hydro plant turbine using PID
controller is the best and simple method to decreases
the error. This leads as get stable and quality power.

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