~

~-

IEEE Transactions on Power Systems, Vol. 9, No. 4, November 1994

1709

HYDRO TURBINE MODEL FOR SYSTEM DYNAMIC STUDIES

E, De Jaeger

N.Janssens

B. Malfliet

F. Van De Meulebroeke Senior Meniber, IEEE

Laborelec (Belgian Laboratory of the Electricity Industry), Electrical Division B-1630 Linkebeek (Belgium)
,411stract - A non-linear model for dynamic studies of hydro turbines is proposed. The model of a single turbine and its water supply conduit is given in the first section of the paper, together with a paraneter estimation from field tests. The second section is devoted to the modeling of multiple turbines supplied from a common tunnel, taking into account the hydraulic coupling effects. Comparisons between simulation results and experimental data are presented.

The second section is devoted to the modeling of a power plant consisting of several turbines, supplied by a common tunnel. The model presented is able to simulate large transients such as load rejections and their effect on the remaining groups, due to the hydraulic coupling through the common conduit. Comparisons between simulation and experimental results (are presented.
1. MODELING OF A SINGLE TURBINE 1.1 Modeling of the Water Column

keywords : modeling, hydro turbine, system dynamics INTRODUCTI( )N This paper deals with a hydraulic model suitable for dynamic studies Of hydro power plaIltS. Figure 1 shows the basic structure of a hydro turbine model.

21s

The model is based upon the assumption that water acts illcolnpressihle fluid [ 11. The penstock is modeled assuming a rigid conduit. From the laws of momentum, the rate of change of flow in the conduit is :

Mech.uiical Toique TurblneCoiitrol Dyiiaiiics

g,e

>

Turhuie
oyll'ullcs

-3
tlow

Rotor Dyixun ics

-= dq
Speed

-(Po-P-Pf)
Tw

>

dt

(1)

Assigned Power

pressure

4
coodull

Electrical Torque

Dynanllcs

Fig. 1 - Striictiire (fa hydro tiii-bine

static pressure of the water column, p the pressure at the turbine admission and pf the pressure loss due to friction in the conduit. T, is a characteristic constant of the conduit which is usually known as the water time constant or the water starting time, when expressed in a p.u. system. The friction pressure loss is taken to be proportional to flow squared [ 11:

In this context, we will treat more precisely the modeling of the prune mover, including the water supply conduit. In the first section, we present the model of a single turbine and its water supply conduit. The general nonlinear model is given and a paraneter estimation is proposed. Typical results are given (they result from field tests, conducted at the Coo pumped storage plait, Belgium).
94 WM 186-7 PWRS A paper recommended and approved by the IEEE Power System Engineering Committee of the IEEE Power Engineering Society for presentationat the IEEE/PES 1994 Winter Meeting, New York, New York, January 30 - February 3, 1994. Manuscript submitted July 8, 1993; made available for printing December 6, 1993.

1.2 Modeling of the Turl)ine

'I'lie turbine is modeled by its valve characteristic [ 11:

q= Gfi

(3)

Where G is a fUIlcti011 O f the gate positioll Y . Froin experimental d a h analysis [2], this functioll has been identified as the combination of a quadratic function of the

0885-8950/94/$04.00 0 1994 IEEE

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gate position y and a first order tilter (simple t i m e lag). I11 steady-state operation, we GW write : Go(y) = do+ d,y + d,y2
(4)

while the global tr'ansfer function will be written, introducing the Laplace formalism

Figure 2 depicts such a function of the flow, corresponding to a 260 m head (Coo I pumped storage plant, Belgium). The zero flow point is adjusted in order to accurately simulate the turbine speed decay when the gate is completely closed, for example after a load rejection (see section 2.4 of this paper).
loo0

' .

'

where s is the L?place variable and Go(s) the hplace msform of Go(y(t)).

1 3 Mechanical Power
The net mech,ulicaI turbine power P , is evaluated from , , , , , by subtracting the the available hydraulic power P friction losses. The hydraulic power is proportional to flow times pressure, while the friction losses are the product of the friction torque (function of flow and speed) and the speed :

et
8 cr
200
0 20 40

+ y

unit 2 unit 3

60

80

FLOW ( m3/sec )

Fig. 2 - Frictionfactor Kbq)

1.5.2 Transfer function G(s)

I The friction torque can be expressed as :

where Kf (9) is a quadratic function of the flow q (flow depending friction factor) [2]:

1.4 Non-linear Model of a Single Hydro Unit

Grouping equations (1) to (8) leads to the global block diagram shown in appendix,'giving the non-linear model of a single hydro turbine (fig. A l l .

Quasi-steady-state tests have been performed at the Coo pumped storage plant (Belgium), in order t o identify the transfer function G(s)(equation (3)) and other parameters of the turbine - conduit model. Only one turbine was operating at a time and these tests consisted of modifying the assigned generation (power setpoint) and measuring important variables as gate position y, pressure at the turbine admission p and generated electrical power Pe,. Figures 3 to 5 show typical recorded data; letters a to e mark the v,arious stages of the test : a = opening of the spherical valve b = opening of the gate and acceleration of the turbine c = synchronizing of the alternator d = power set-point modifications e = opening of the main circuit breaker (disconnecting the alternator from the grid)

1.5 Model parameter determination

1.5.1 Friction factor Kkq)
The turbine friction factor is obtiined as function of the flow by processing efficiency measurements, as given in [3, 41. These data list the net turbine mechanical power, the flow and the efficiency of the units, measured for a large number of steady-state operating conditions, with constant head. The coefficients of the polynomial (8) are estimated by curve fitting.

- 100

d . . . . F.........,.........,......"..
0
100

200

300

TIME ( 5 )

Fig. 3 - Measured gate position

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1711

l a b

w
v

: 5 20: m w
)

C T CT

: :

e , 101

. . . . 1 . . . . . . . . . -

0 -. . . . . . . . . I . . . . . . . . . 1 . . . . . -100 0 100 TIME ( s )

2 00

300

10 GATE POSITION 20 ( cm ) 30

40

Fig. 4 - Measured pressitre ut the trrrbine admission

Fig. 6 - Meusrrred trunsjierflinctions G and Go(y)

1.5.3 Parameters T, and f

The knowledge of the measured pressure, the computed flow (9) and its derivative with respect to time allows the simultaneous identification of Tw and fp, from equation (1) (law of momentum).

2. MODELING OF MULTIPLE PEN STOCKS AND TUKIjINES SUl'P1,IED FKOM A COMMON TUNNEL
-50 . . -100

. . . . . . .F . . . . . . . . . l d .........l......f..
0

100

200

300

TIME ( s )

Fig. 5 - Measitred generated electricul power Froin the experiinenbd electrical active power P,, and pressure p, and using the friction factor Kdq), one can compute the flow by solving the following equation (assuming that P,,, = P,, during the test)

The above proposed model must be improved to take into account the coupling effect of pressure variations, existing bctweeii turbines supplied froin a coininon tunnel, as pictured in figure 7.
Turbine 1

Turbine 2 Common tunnel

(Note that the speed rernains constant during these tests) Application of ( 3 ) yields

G = -

h
Turbine 3

Fig. 7 - Midtiple fiirbines sripplied from coninion trtnnrl

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2.1 Modeling of the Conduits

Let us introduce the following symbols : T, = water time constant of the common conduit (upper tunnel) Twi= water time constant of the individual penstock related to machine i (i = 1.2 or 3) where (i ,j, k) = cyclic permutation of (1,2, 3). This equation describes the flow dynamics in each individual penstock, including the hydraulic interaction (coupling effect) with the other turbines. The analysis of the results of load rejection tests (performed when the three turbines w e r e in service) shows that the pressure variation (i.e. the difference between steady-state pressures before and after the test) is significantly greater for the disconnected unit than for the remaining machines. It suggests that the head loss due to friction in the penstocks is much more important than in the upper conduit. This empirical conclusion led us to simplify equation (14) by neglecting the fpc coefficient.

fpc = friction coefficient of the common conduit

fpi = friction coefficient of the individual penstock related to machine i (i = 1,2 or 3)
pc = pressure at the bifurcation between the common tunnel and the individual penstocks. = static pressure of the water column at the bifurcation pOc poi= static pressure at the turbine i admission (i = 1, 2 or 3)
pi = pressure at the turbine i admission (i = 1 , 2 or 3)

2.2 Modeling of the Turbines

qi = flow in individual penstock and turbine i (i = 1, 2 or 3) qc = flow in the common conduit (forced to be equal to the sum of the flows in the individual penstocks, by the continuity equation) The flow dynamics in the common conduit is established by applicatioR of (1) :

The simple turbine model (3) is not able t o simulate very large transients of the turbine : - it cannot simulate accurately the turbine speed when this one undergoes large (positive or negative) variations (such operating conditions occur in case of load rejection, for example), - it leads to pressure indetermination and numerical problems when the gate reaches complete closure. On empirical basis, the following improved representation is thus proposed, in order to introduce a speed deviation effect, which is a function of the gate position :

On the other hand, we can write, for each individual penstock

q + (D(G-G&) A o ~+ qaff 1

G
(i = 1,2 or 3) Extracting (pot yields

=J;;

(15)

A q is the speed deviation ftom synchronism, p m s s e d by a simple-lag filter :

pc) from (11) and substituting in (12)

Recalling that the flow in the corninon conduit is equal to

the sum of the individual flows, we obain finally :

1 (16) 1 + Trii S The constant offset quantities GM and qdf are introduced in order to avoid indetermination, when the gate reaches complete closure. D is a constant parameter and the transfer function G is still given by (5). but Go(y) m m have a sornewhat more complicated expression: in fact, introducing
Ao~=

-( 0 - 00)

C;oi(y) = db + d;y + d;y2

(17)

Go(y) is now defined by

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1713

Figure 8 shows the speed of the disconnected machine (group 3) while figure 9 gives the pressure at the admission of one of the remaining units (group 2).

Note that G , and ,q are not independent : they must be chosen in such a way that the pressure at the turbine admission is equal to the static pressure, when the gate is completely closed i.e. when y = 0 and qi = 0 (remember that the f coefficient has been neglected in (14)). In these p4: conditions, according to the preceding definitions, (15) reduces to
(19)
GOff

Note also that when the speed remains construit, (15) reduces to (20) which is similar to (3)
2.3 Non-linear Model of Multiple l u r i h e s

Fig. 8 - Lolid rejection test :speed of the disconnecied

mnckine
32
" ' I
" ' I " ' I ~ " I ' ' ' I ' ' ~

- Experimental ......... Simulated

The general block diagram giving tlie non-linear model of a hydro-turbine, including hydraulic interaction with the other turbines supplied by a coininon tunnel, in shown i n appendix (fig. A2).
Tlie transfer function C; (defined by (5), (17) aiid (18) ) can bc identilied from tests a s described i n 1.5.2. These tests are also useful to estimate parameters such as ti,, and T, = T,, + T , (separation of the two parmeters TN,c and T,, can be made, knowing the relative lengths and areas of the coininon conduit and the individual penstocks, for example). Other parmeters such as D or TI,, are to be tuned to accurately sirnulate large transients, among which load rejection (being one of the most practically interesting and constraining transients).

4
-20

20

40

60

80

100

TlhlE ( s )

Fig. 9 - Lorid rigeciion te.st :pressure (it ilre admission of one of the remining tnachines

The rotor dynamics is described by tlie classical rotating inasses equalion, relating the inertia torque to the resultant of rhe torques 011 the rotor.

2.4 Application

Load rejection tests have been performed at the Belgian pumped storage plant in Coo and the above presented rnotlel lins been used to simulate Ihcse transients. Comparisons 1xtween measured and coinputed (lata are given in figures 8 and 9. The initial loading of each machine W;L\ 0.8 p.u and load rejeclion was perfornied for one turbine out of tliree.

A hydraulic model suitable for dynamic studies of hydro power plants has been proposed. In this context, we have inore precisely dealt with the modeling of the prime mover, including che water supply conduit. The general non-linear model has been given and a p:u,unetcr estimation has been proposed. Typical results were givcn (hey result from field tests, conducted at the Coo pumped srorage plant, Belgium). Tlie inodeling of a power plant consisting of several turbines, supplied by a coinInoii tunnel has been investigated and we have shown that the presented model is able to simulate large transicnts as load rejections and their effect on the remaining groups, due 10 the hydraulic coupling tlirough the coinInoii conduit. Comparisons bctween simulation ;uid experimental results have been presented ancl show the sufficient accuracy of the model.

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1714

d,+ d,Y

%U2

1
G
I
Goffl
GOff

Fig. A1 - Non-linear model of a single hydro turbine

a,+ ay *a2y-

~ . * .

4+
I I

Fig. A2 Non-linear model of a hydro turbine taking into account the hydraulic coupling with the other turbines supplied from the same tunnel

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1715

REFERENCES

[l] IEEE Working Group on Prime Mover and Energy Supply Models for System Dynamic Pcrfonnance Studies "Hydraulic turbine and turbine control models for system dynamic studies" IEEE Trans. on Power Systems, vol. 7, No 1 (feb. 1992) pp. 167-179 [2] E. De Jaeger, B. Maltliet, N. Janssens, "ModiYe hydraulique pour la centrale de Coo I. Essais du 26 juin 1991.", Laborelec Report EM-405-91-016/EDJ/BM/NJ.

FClicien Van De Meulehroeke (SM'89) was born in 1940. He received the Electrical Civil Engineer degree (Electronics) from the Catholic [Jniversity of Leuven (KUL), Belgium, in 1963. Since 1964, he has been with Laborelec, the Belgian Laboratory of the Electricity Industry. From 1964 to 1987, he was Chief Engineer, in ch'uge of turbogenerators automation and system dynamics, in the section 2 (Electronics and Automatics). In 1987, he became head of the department "System dynamics and protections" in the section E (Electrical Power). Since decernber 1988, he is head of the Electrical Division of Laborelec.

[3] "Coo I, Groupe 3 : dktennination du rendement de la

turbine - poinpe kquipke d'une nouvelle roue.", Laborelec Report 4-GD/5 - 194 R2, 14 dec. 1976. [4] "Centrale de Coo - Trois-Ponts, Groupe 2: determination du rendernent de la turbine-pompe kquipke de la nouvelle roue.", Laborelec Report 4 - GD/S - 203 R2, 8 avr. 1977.

Emmanuel De Jaeger was born in Narnur, Belgium, on September 25, 1962. He studied at the Catholic IJniversity of Louvain (IJCL, Louvain-la-Neuve, Belgium) and graduated as Electrical Civil Engineer in 1985. He received the 1'h.D. degree in Electrical Engineering from the sane IJniversity, in 1991. Since 1991, he is with the system dynamics department of the Belgian Laboratory of the Electricity I i i d ~ t r y (Laborelec). His main fields of interest include theory and parameters estiination of electrical machines, modeling, simulation, analysis and control of power system.

Noel Janssens was born in Louvain, Belgium, on December 22, 1948. He studied electrical engineering at the [Jniversity of Louvain and graduated in 1971. Research activities for obtaining the Ph.D. degree (1981) were in the field of the Inodeling of magnetic hysteresis and the study of ferroresonance. From 1981 to 1983, he worked at ACEC (Charleroi) as head for R & I) in the (.hi Load Tap Changer department. From 1978 to 1981 and since 1984 he is with Laborelec, first in the Mathematics and Data Processing department and since 1989 i n the Electricity Division where his main fields of interest are the modeling, simulation and control of Power Systems. He is also teaching at the [Jniversity of Louvain in the Electrical Engineering department.

Bernard Malfliet was born i n Halle, Belgium on August 25, 1965. He received tlie diploma i n electrical engineering from the University of Brussels in 1988. The sane year he joined Laborelec at the system dynamics department. His main interests are automated control and simulation of the power grid. He is currently working on centralised voltage and speed control for the Belgian grid and on turbogroup simulation.

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