Anil2003
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The document proposes a novel governor controller for a hydro-power plant. It presents simulation results comparing the performance of a PI controller, PID controller, and the proposed controller. The proposed controller had better performance measures like gain margin, phase margin, settling time, overshoot, and bandwidth compared to the PI and PID controllers across different hydraulic turbine models, demonstrating its effectiveness.
Anil2003
- 1. UNDER THE GUIDANCE PRESENTED BY OF K.ANIL NAIK Dr. A. K. CHANDEL 09M214 ASSOCIATE PROFFESOR POWER SYSTEMS EED -NIT HAMIRPUR
- 2. 1. AIM 2. THE HYDRAULIC SYSTEM 3. PROPOSED A NOVEL GOVERNOR CONTROLLER FOR HYDRO-POWER PLANT 4. HYDRAULIC TURBINE MODEL 5. SISO TOOL 6. RESULTS AND DISCUSSION 7. CONCLUSION 8. FUTURE WORK 9. REFENCESES
- 3. 1. Hydro power plants capture the energy of falling water to generate electricity. 2. This Generated electrical power is injected into the power system. 3. Day by day power system demand is increasing. 4. complex power system consists of many connections like HVDC links, wind, and distributed generator etc.
- 5. The speed of the turbine-alternator is dependent upon the load served by the alternator. The speed of the turbine is governed by the speed governor .
- 7. The transfer function of a measurement y and controller output u in case of a PID controller with the approximate derivative controller is 1 sTD GPID ( s ) K 1 sTI sTD 1 N controller gain at high frequency. lim GPID ( s) K (1 N ) s to roll off the controller gain at high frequencies 1 F (s) (1 sT f ) n
- 8. The controller is implemented as 1 1 GPID _ der ( s ) K 1 sTD sTI sT (1 D )n N where TD Tf is the filter time constant Tf N The value of T f can be coupled to the controller time constants N = varies from 20-100 K = proportional gain n = order of filter
- 10. The dynamic performance of a hydraulic system is affected by the turbine-penstock characteristics Case 1 Pm ( s ) 1 sTW Ideal loss less turbine G(s) 1 1 TW 2 Case 2 Pm ( s ) 1 Z p tanh(Tep s ) Water hammer effect G(s) 1 1 Z p tanh(Tep s ) 2 2 n sTep sTep 1 2Tep s n 1 n 1 e tanh(Tep s ) 2Tep s 2 1 e n 2 sTep 1 n 1 (2n 1)
- 11. T 1s W 1 2 s Case 3 1 P (S ) Single surge tank effect m 1 g (S ) 0.5T 1 s W 1 2 s 1 1 TW 1s TW 2 s 1 2 2 Case 4 s s 1 1 Double surge tank 2 Pm ( S ) 1 g (S ) 0.5TW 1s 0.5TW 2 s 1 2 2 s s 1 1 1 2
- 12. Case a: No compensation Case b: With PI controller Case c: With PID controller Case d: Proposed controller
- 13. SISO TOOL is a Graphical User Interface (GUI)
- 17. No compensation Here gc (gain crossover frequency) is greater than pc (phase crossover frequency).
- 18. KI GPI ( s ) KP s Added one zero on the L.H.S Added one pole at origin gc pc Since gc should not be greater than pc for stability of the system. The PI controller of the speed governing system is stable.
- 20. KI GPID ( s ) KP KDs s Added two zeros on L.H.S Added one zero at origin gc pc gcis less than pc and hence the PID controller of the speed governing system is stable.
- 22. Two zeros added on the L.H.S of the s-plane One pole at origin One pole on the L.H.S of the s-plane gc pc gcis less than pc and hence the Proposed controller of the speed governing system is stable.
- 24. Specifications PI PID Proposed controller Gain Margin 5.83dB 9.85dB 15.7dB Gain crossover Frequency 0.233r/s 0.217r/s 0.125r/s Phase margin 29.7o 34.4o 36 o Phase crossover Frequency 0.459r/s 1.09r/s 1.43r/s Bandwidth 0.226r/s 0.873r/s 1.305r/s
- 25. Specifications PI PID Proposed controller Rise time 8.89s 8.75s 1.86s Peak time 19.7s 20s 6.28s Overshoot 54.6% 40.6% 30% Settling time (1%) 151s 84.6s 13.4s
- 26. Specifications PI PID Proposed controller Gain Margin 5.81dB 12.8dB 17.1dB Gain crossover 0.402r/s 0.154r/s 0.164r/s Frequency Phase margin 18.8o 30.1o 43.3 o Phase crossover 0.85r/s 1.95r/s 2.11r/s Frequency Bandwidth 0.0448r/s 1.796r/s 1.946r/s Specifications PI PID Proposed controller Rise time 3.14s 4.13s 9.73s Peak time 12.1s 13.1s 23.6s Overshoot 50.10% 35.30% 32% Settling time (1%) 38.6s 77.9s 35.3s
- 27. Specifications PI PID Proposed controller Gain Margin 4.75dB 8.94dB 9.38dB Gain crossover 0.0279r/s 0.0245r/s 0.0202r/s Frequency Phase margin 61.5o 65.4o 68.1 o Phase crossover 0.0732r/s 0.0821r/s 0.0784r/s Frequency Bandwidth 0.0453r/s 0.0576r/s 0.0582r/s Specifications PI PID Proposed controller Rise time 44s 25.6s 65.5s Peak time 63.9s 70.7s no peak time Overshoot 29.3% 6.22% 0% Settling time (1%) 154s 130s 124.9s
- 29. Specifications PI PID Proposed controller Gain Margin 3.07dB 4.07dB 4.35dB Gain crossover 0.0282r/s 0.0251r/s 0.0242r/s Frequency Phase margin 61.9o 65o 66.1 o Phase crossover 0.0685r/s 0.0689r/s 0.0688r/s Frequency Bandwidth 0.0403r/s 0.0438r/s 0.0466r/s Specifications PI PID Proposed controller Rise time 20.9s 23.2s 24s Peak time 72.4s 73.1s 73.4s Overshoot 30.4% 19.1% 15.7 Settling time (1%) 350s 258s 250s
- 31. A new robust PID-low pass filter controller is proposed for hydro power system by considering the different effects. The proposed controller has been found to enhance the stability of the hydraulic unit. Different cases have been considered and compared to justify the suitability of the proposed controller.
- 32. 1.Implementation of proposed controller in hydro-power plant. 2.This hydro generator connect with interconnected power system. 3.Create sudden disturbance. 4.Analysis of generator parameters .
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