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Dr M.S.R.Murty
SPEED TRANSIENTS
For step load change
Unstable Speed (%) Oscillatory (Hunting)
Time (Sec)
Modes of operation as per IEC standard Mode 1: Steady state operations when the unit is operating at constant load, head and command input Mode 2: The total system is subject to small changes caused by fluctuations in load or command input. In this mode none of the governor elements will reach the limit of closing or opening speed. The stability guarantees are always referred to this mode.
Operating Modes
Mode 3: The total system is subject to changes, which is resulting in speed limits, closing and opening movements of parts of the governor system. This is the situation during load rejections when the main servomotors are operating at maximum closing speed
Grid operation
The function of the governor is only to change the generator output. If the generator is being disconnected, a load rejection will occur, which means that the system is in mode 3.
Influencing parameters
Rotor Inertia time (Tm) Water Inertia time (Tw) Servomotor time (Ty/Tg) Governor adjustable settings: temporary droop parameters (bt, tr) or PID parameters (Kp, Ki,Kd) Hydraulic network
1.0
0.8
Stable
0.6
Unstable
1 = Tw/Tm
0.2
Optimum
0.1
0.2
0.3
2 = Tw / Tr
0.4
0.5
0.6
0.7
Stability Index :
(Tw/Ta) Normal 0.1 0.4 0.16 heavy > 0.4 Light : less stable Chibro : 0.15 kopili : 0.44 Pong : 0.35
Adaptive Governors
Tw, Tm are strictly function of operating point Governor parameters are adjusted automatically on-line as op. point varies Possible in digital governors
w = Speed deviation [p.u.], K = Governor gain (inverse of the governor speed droop), Po = Initial loading of the machine [p.u.], PMAX = Maximum output power of the machine [p.u.], PMIN = Minimum output power of the machine [p.u.], T1 = Governor controller lag (sec), T2 = Governor controller lead (sec), T3 = Governor lag (sec), T4 = Water starting time (sec).
Speed-governing model.
au Hydraulic
Load
Ki S
g TURBINE - m PENSTOCK
ns
ns
KdS
bp
Droop
Gate signal
Gate signal
f 52 Hz
50 Hz 4% Drop
Permanent DROOP
Droop characteristic
Transfer characteristics
PL
Speed Error
Hydraulic part
Hyd. Part
Flow q = f ( g, b, h, n ) Torque m = f ( g, b, h, n )
Power variation
Time(sec)
21 % Frequency
Mech.Torque Tm Turbine Rotor Turbine control gate, g Dynamics Dynamics Dynamics Te : Elec.Torque h : presser flow Assigned g Unit Conduit generation Dynamics
Speed
Load Dynamics
To Other Machines
Other m/c
Total Load
+ +
GRID INERTIA
Frequency
Area Frequency
Summary
Stability is an important aspect of Hydro power plant operation Influencing parameters: Water inertia time (Tw), Rotor inertia time (Tm), and temporary droop or PID parameters Tuning criteria for optimum operation For long penstock systems, pipe reflection time (Te) is also important