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Hydraulic Turbine and Governor

Model hydraulic turbine and proportional-integral-derivative (PID) governor system

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  • Hydraulic Turbine and Governor block

Libraries:
Simscape / Electrical / Specialized Power Systems / Electrical Machines / Synchronous Machine Control

Description

The Hydraulic Turbine and Governor block implements a nonlinear hydraulic turbine model, a PID governor system, and a servomotor [1].

The hydraulic turbine is modeled by the following nonlinear system.

The gate servomotor is modeled by a second-order system.

Examples

Synchronous Machine

Synchronous Machine

The use of the Machine Initialization tool of Powergui to initialize machine currents.

Ports

Input

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Reference speed, in pu.

Reference mechanical power in pu. This input can be left unconnected if you want to use the gate position as input to the feedback loop instead of the power deviation.

Machine actual speed, in pu.

Machine actual electrical power in pu. This input can be left unconnected if you want to use the gate position as input to the feedback loop instead of the power deviation.

Speed deviation, in pu.

Output

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Mechanical power Pm for the Synchronous Machine block, in pu.

Gate opening, in pu.

Parameters

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To edit block parameters interactively, use the Property Inspector. From the Simulink® Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Gain Ka and time constant Ta, in seconds (s), of the first-order system representing the servomotor.

Limits gmin and gmax (pu) imposed on the gate opening, and vgmin and vgmax (pu/s) imposed on gate speed.

Static gain of the governor is equal to the inverse of the permanent droop Rp in the feedback loop. The PID regulator has a proportional gain Kp, an integral gain Ki, and a derivative gain Kd. The high-frequency gain of the PID is limited by a first-order low-pass filter with time constant Td (s).

Speed deviation damping coefficient β and water starting time Tw (s).

Input of the feedback loop: gate position (1) or electrical power deviation (0).

Initial mechanical power Pm0 (pu) at the machine shaft. This value is automatically updated by the load flow utility of the Powergui block.

References

[1] IEEE Working Group on Prime Mover and Energy Supply Models for System Dynamic Performance Studies, “Hydraulic Turbine and Turbine Control Models for Dynamic Studies,” IEEE® Transactions on Power Systems, Vol. 7, No. 1, February, 1992, pp. 167-179.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced before R2006a

See Also

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