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Introduction
One of the most important control devices in hydropower plant is the hydraulic
turbine governor because of its ability to maintain safe and reliable plant operation. In
the design of a governor for hydraulic turbine governing system (HTGS), we have to
face some difficulties arising from the special characteristics of the system, such as
the uncertainties of the controlled object, the unpredictable disturbances, the nonminimum zeros, etc., which mean that the design work remains a challenging task.
Some pioneers have developed systematic methods for governor parameter tuning.
Paynter [1], Hovey [2] and Chaudhry [3] originally used Routh-Hurwitz stability
criterion to analyze the stable region for turbine operation and gave the recommended
values of permanent speed droop and transient droop. The results of these studies
have provided important guidelines and suggestions for early mechanical governor
design.
With the popularity of electric-hydraulic governor employing PID controllers,
there has been a widespread interest in investigating the effects of PID gains on the
performances of the HTGS. Thorne and Hill [4] carried out the state-space eigenvalue
analysis to determine stable operating gain regions for PI controller, and Hagihara et
al. [5] used root locus method to study the effects of the derivative gain. Wozniak [6]
utilized pole cancellation method to deal with governor tuning and the results were
summarized in a graph which can predict the optimal PI gains. In addition to these
traditional tuning techniques, the intelligent optimization algorithms, such as genetic
algorithm, particle swarm optimization, evolutionary programming, etc., have also
been developed to tune the control parameters of the governors [7-10]. By minimizing
the performance criterions of the speed deviation, the optimal PID gains are find out
and, as a result, the excellent dynamic responses are achieved at a certain operating
point.
The remainder of this paper is organized as follows. Section 2 builds the model of
HTGS with uncertainties. In section 3, we formulate the robust PID controller design
problem into a constrained optimization problem. The performance of the robust PID
controller is analyzed and compared in section 4. Finally, section 5 summarizes the
main conclusions.
Model of HTGS
The HTGS usually contains three essential elements: governor, hydraulic turbinepenstock and generator. It is considered to be a complicated nonlinear system because
the characteristics of the hydraulic turbine and generator change significantly with
operating conditions. In this section, a model of HTGS including these nonlinear
effects will be built.
2.1
Model of Governor
Hydraulic turbine governor consists of two parts: the controller and the actuator. At
present, the most widely used controller is the parallel PID controller. Its control law
can be expressed as follows:
C (k , s) k p
ki
s
kd s
T1 v s 1
(1)
Ga (s)
(2)
Tys 1
System coefficients
Thus W t ( s ) and W g ( s ) are such that their respective magnitude Bode plots cover
the Bode plots of all possible model errors E ti and E gi caused by the variations to
nominal model as shown in Fig. 2-3.
In this way, the set Gt and G g respectively include all turbine and generator
models whose errors are less than W t ( s ) and W g ( s ) , and therefore fully describe
the characteristic variations of HTGS. The block diagram representation of HTGS
with uncertainties is illustrated in Fig. 4, where x r is the speed set point; e is the
speed error; d q and d l are respectively the flow and load disturbance; W q ( s )
and W l ( s ) are disturbance models.
3
Robust PID Controller Design Based on Constrained
Optimization
The controller design objective is to determine PID control parameters k so that the
HTGS can achieve fast dynamic response, strong robust stability and good
disturbance rejection. In this section, these performance requirements will be
expressed in term of k , and then the design problem is formulated into a constrained
optimization problem.
Conclusions
References
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