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Advanced Science and Technology Letters

Vol.49 (ICSS 2014), pp.6-11


http://dx.doi.org/10.14257/astl.2014.49.02

Constrained Optimization Based Robust PID


Controller Design for Hydraulic Turbine Governing
System
Xuesong He 1, Changyu Liu *1, and Qiurong Yan2
1 School of Hydropower and Information Engineering,
Huazhong University of Science and Technology. Wuhan, China
2 School of Electrical and Electronic Engineering,
Huazhong University of Science and Technology. Wuhan, China
samijanee@163.com

Abstract. The characteristics of hydraulic turbine governing system change


with operating conditions, therefore the governor must be capable of providing
satisfactory control under different operating points. For this reason a design
method of robust PID controller is proposed. The effects of the characteristic
variations are defined as uncertainties in the system model, and based on this
model, the requirements for fast dynamic response, strong robust stability and
good disturbance rejection are analyzed. The PID gains are selected by
optimization of the transient behaviors with constraints on the robustness to
model uncertainties and the sensitivity to disturbances. In this way, the design
problem is formulated into a constrained optimization problem. The
performances of robust PID controller are evaluated by simulating the operation
of a generating unit supplying an isolated load. The results show that, compared
with traditional optimal PID controller, the robust PID controller produces
better dynamic performance under the promise of ensuring system stability over
the entire operating range.
Keywords: Hydraulic turbine governing system, Robust PID control,
Constrained optimization, Robust stability, Disturbance rejection.

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

ISSN: 2287-1233 ASTL


Copyright 2014 SERSC

Advanced Science and Technology Letters


Vol.49 (ICSS 2014)

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)

where T1 v is the derivative filter time constant; vector k ( k p , k i , k d ) R 3


denotes the PID control parameters.
The actuator amplifies the output signal of controller to drive the gate. The transfer
function of the actuator is:

Copyright 2014 SERSC

Advanced Science and Technology Letters


Vol.49 (ICSS 2014)

Ga (s)

(2)

Tys 1

where T y is the servomotor time constant.


2.2

Model with Uncertainties

Although equations (1)-(10) completely describe the characteristics of the HTGS,


hydraulic turbine and generator coefficients strongly depend on the operating point as
shown in Table 1. The stability boundaries as a survey of the system characteristics
are illustrated in Fig. 1, and as we expected, there are significant differences among
three different operating points.
Table 1.

System coefficients

Operating point e11 e12


e13
e21 e22
e23
Tw
Ta
600 MW
1.31 1.45 -0.15 1.12 0.69 -0.33 1.71 10.7
457 MW
1.34 1.31 -0.10 1.15 0.53 -0.30 1.54 10.2
183 MW
1.36 1.12 -0.07 1.26 0.42 -0.25 1.35 9.51

Fig. 1. Stability boundaries for three operating points

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.

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Advanced Science and Technology Letters


Vol.49 (ICSS 2014)

Fig. 2. Hydraulic turbine uncertainties and weight

Fig. 3. Generator uncertainties and weight

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.

Fig. 4. HTGS with uncertainties

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Advanced Science and Technology Letters


Vol.49 (ICSS 2014)

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

In this paper, we propose a constrained optimization based robust PID controller


design method for HTGS. By minimizing the ITAE index with constraints on the
structured singular value and frequency responses to the disturbances, the PID
controller is designed to meet requirements on dynamic response, robust stability and
disturbance rejection. The effectiveness of proposed method is confirmed by
simulating the behaviors of a generating unit under various operating conditions.
Simulation results show that the designed robust PID controller has excellent
capability to cope with system characteristic variations. The main contribution of this
paper is to demonstrate the possibility of using the concept of constrained
optimization to design hydraulic turbine governor, and we believe that this study will
provide new insights on the governor optimization.

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Advanced Science and Technology Letters


Vol.49 (ICSS 2014)

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