A3-4 - Sedma Nacionalna Konferencija so Me|unarodno U~estvo...

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SIMULATION OF CONTROL PLANT DYNAMIC CHARACTERISTICS IN THE CASE OF HYDRAULIC TURBINE-GOVERNOR SYSTEM Darko Babunski 1 , Atanasko Tuneski 1 1 Faculty of Mechanical Engineering, "Sts. Cyril and Methodius" University,P.O. Box 464, 1001 Skopje, Republic of Macedonia. Fax: +389 2 362 298, e-mail: bdarko@mf.ukim.edu.mk Abstract - A linear and nonlinear mathematical model of hydraulic turbine, including water supply conduit is proposed. Analysis of static and dynamic characteristics of models is made. Modification and analysis of both linear and nonlinear model was made, using experimental data from hydraulic turbine model acceptance tests, with proposal of mathematical model which has minimal error between simulation results and static turbine model measurements. These mathematical models can be used as control plants in further control design tasks. Keywords - Hydraulic turbines, control, PID. 1. INTRODUCTION The requests of mathematical model of hydraulic plants including hydraulic turbine, penstock, unrestricted head and tail race, large or no surge tank and governor of hydraulic turbine are, to assure large transient stability program simulation, isolated system operation, system restoration after brake up, load rejection, load acceptance, water hammer dynamics and optimal speed control. In this paper are used for simulation both linear and non-linear mathematical models of hydraulic plants recommended by IEEE [1] and their modifications made with data from hydraulic turbine model acceptance measurements [2]. Non-linear models are required where speed and power changes are large, such as in islanding, load rejection and system restoration studies although there are great difficulties designing good governor of hydraulic turbines, because the hydraulic turbine is highly non-linear device which characteristics vary significantly with the unpredictable load on the unit. Such nonlinearities make the governor design a nontrivial task because governors designed for one operating condition may not work at all under other conditions. Basic elements of a hydraulic turbine within the power system environment are shown on the block diagram of figure 1. Fig. 1. Block diagram of hydro prime mover and control 2. MATHEMATICAL MODEL OF HYDRAULIC TURBINE Mathematical models of hydraulic turbine with penstock and without surge tank, modelled assuming incompressible fluid, recommended by IEEE [1], [4] are presented. Modelling of linear and non-linear mathematical model of hydraulic turbine is presented in following subsections. 2.1 Non-linear model of hydraulic turbine assuming incompressible flow From the laws of momentum, the rate of change of flow in the conduit is: ( ) sl dQ LH H H A g dt ρ =− (1) where Q is the volumetric flow rate, L is the penstock length and is the mass density of water.
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This note was uploaded on 02/18/2010 for the course ITK ETF113L07 taught by Professor Popovskiborislav during the Spring '10 term at Pacific.

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A3-4 - Sedma Nacionalna Konferencija so Me|unarodno U~estvo...

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