438

IEEE Transactions on Energy Conversion, Vol. 6, No. 3, September 1991

SUBOPTIMAL DESIGN OF HYDROTURBINE GOVERNORS

D. M. Skataric
E nergop roject,
Holding Co.
Bel grade, Yugoslavia

D. B. Arnautovic, Member, I E E E
Electrical Engineering I n s t i t u t e
"Nikola Tesla", Belgrade
Yugoslavia

&bs_t.rscJ-

The paper presents a s t a t e space method f o r

t h e design of t u r b i n e governors i n hydro power p l a n t s
with Kaplan turbines. The design i s based on t h e suboptimal regulator problem solved by t h e use o f
p r o j e c t i v e controls. A design procedure i ' s proposed
which permits the design o f m u l t i v a r i a b l e s t a t i c and
low-order dynamic hydroturbine governors. I t provides
an organized way o f choosing t h e governor s t r u c t u r e and
the t u n i n g o f i t s parameters. A case study i s presented
t o i l l u s t r a t e the proposed design method and t o demons t r a t e the extensive a p p l i c a b i l i t y o f t h e suboptimal
s o l u t i o n and i t s m e r i t s as compared t o conventional
governors.

__
Keywords -

Suboptimal c o n t r o l ; Power s t a t i o n . c o n t r o l ;
Turbine governor; Synthesis method; Computer aided design.
INTRODUCTION
Hydro power p l a n t (HPP) t u r b i n e gsverning
has bqeb
studied extensively i n t h e past. These studies hdbe
shown t h a t t h e v e r i f i c a t i o n o f t h e s t a b i l i t y and
q u a l i t y of speed r e g u l a t i o n always represents an i m p o r t a n t phase i n the design o f HPP. I n recent years, considerable a t t e n t i o n has been d i r e c t e d toward the
problem o f designing t u r b i n e governors, because o f i t s
Influence on t h e dynamic performance o f HPP.
Classical c o n t r o l theory has been widely used i n t h e
conventional approaches o f t u r b i n e governor design. On
the other hand, recent i n v e s t i g a t i o n s s t r e s s t h e great
s i g n i f i c a n c e o f modern c o n t r o l theory. Therefore the
a p p l i c a t i o n o f modern c o n t r o l techniques t o HPP
c o n t r o l , p a r t i c u l a r l y t u r b i n e governing, i s an area o f
considerable i n t e r e s t . Recent i n v e s t i g a t i o n s o f new
t u r b i n e governor design Incorporating e l e c t r o n i c and
d i g i t a l components are motivated i n p a r t by t h e expect a t i o n s t h a t new types o f governor w i l l improve t h e
q u a l i t y o f speed r e g u l a t i o n [ 1 , 2 , 3 , 4 , ] .
Digital
governors open t h e door t o many new p o s s i b i l i t i e s i n
c o n t r o l due t o t h e i r f l e x i b i l i t y and the:r c a p a b i l i t y
t o implement. more complex algorithms [ 2 , 5 , 6 ] . This work
was s p e c i f i c a l l y intended t o introduce d i g i t a l hardware
technology and more sophisticated c o n t r o l techniques t o
governing o f hydrogenerators.

Kaplan turbines based on the concept o f p r o j e c t i v e

c o n t r o l s [ 7 . 8 ] . The method was based on the assumption
t h a t t h e design goal i s t o r e t a i n the "dominant" o r
"desired" dynamics, t h a t the c o n t r o l l e d system would
e x h i b i t i f t h e l i n e a r quadratic regulator (LQR) could
be implemented, by using a suboptimal output feedback
c o n t r o l . The developed design procedure enables one t o
systematically
imprsve
the
closed-loop
system
performance u n t i l a s a t i s f a c t o r y suboptimal s o l u t i o n i s
obtained.
I n the i n v e s t i g a t i o n s presented i n t h i s paper, f o r the
f i r s t time the method, o f p r o j e c t i v e c o n t r o l s i s used t o
solve t h e ,problem o f synthesis o f
hydroturbine
governors ; i t h an a r b i t r a r y number o f inputs and two
outputs ( t h e r e g u l a t i o n o f Kaplan t u r b i n e i s performed
by two means - guide vane and runner blade). I t i s
shown t h a t the developed methodology f o r the synthesis
of s t a t i c and low-order dynamic output regulators can
be d i r e c t l y applied f o r the synthesis o f t u r b i n e governors, f o r which the corresponding algorithm i s given.
This procedure enables t h e choice o f s t r u c t u r e and
adjustment o f parameters o f t u r b i n e governor, a l l i n
order t o improve t h e dynamic performance o f HPP.
MATHEMATICAL MODEL OF THE HYDRO
GENERATOR WJTH-A-tP_LAN
TURBINE
The f i r s t step i n determining suboptimal c o n t r o l i s t o
develop an adequate HPP model. For t u r b i n e governor
design purposes, t o assure s t a b i l i t y and regulation,
l i n e a r i z e d models are normally used t o describe
dynamics about
an
operating p o i n t . The basic
components involved i n t h e representation o f a s i n g l e
Kaplan turbine-generator connected through a s i n g l e
transmission l i n e t o an i n f i n i t e bus are shown i n the
block diagram i n Fig. 1.
The equations describing t h e p l a n t behaviour are summarized
below.
All
variables
are
in
per-unit
deviations.
The t u r b i n e f l o w q and torque m i n Kaplan t u r b i n e s are,
i n general, nonlinear functions o f several variables:
head, gulde vane openlng, machine speed and runner
blade p o s i t i o n

The aim o f t h i s paper i s t o present a s t a t e space

method f o r t h e design o f t u r b i n e governors i n HPP w i t h

91 WM 139-6 EC
A paper recommended and approved
by the IEEE Energy Development aild Power Generation
Committee of the IEEE Power Engineering Society for
presentation at the IEEE/PES 1991 Winter Meeting,
New York, New York, February 3-7, 1991. Manuscript
submitted August 7, 1990; made available for
printing January 3, 1991.

q (h,a,U,@")
(h,a,U,@")

=m

When small deviations o f flow and torque from an

operating p o i n t are considered these curves may be represented by the f o l l o w i n g Taylor-series expansion
q

(r,q/dh)ht(hq/6a)at(dq/b,)wt(6q/69")g0=
T,h t Ta
,
t Tw
,
t T,@"

=
=

(&/ah) h t (6m/da) a t (6m/6w)w+ (6rn/6CO0 )CO"=

Th
, t Tba + T,o + T,b0

0885-8969/91/0900-0438$Ol.W@1991 IEEE

439

Q,

put, L-t.-.), +ihich

-an be used as i n p t i t variables t o the
t u ?L ~ n egovernor.

Synchronous
generator

Kaplan
turbine

PROBLEM
.~ FORMULATION

The problem i s t o deslgn a t u r b i n e governor i n t h e

h y d r o pcwer plant so as t o achieve a satisfactory damping o f speed and faster responses. This problem can be
t u r n e d i n t o t h e following o u t p u t regulator problem. For
t h e given state space description o f a h y d r o power
plant ( 6 ) t h e problem i s t o deslgn a static t u r b i n e
governor o f t h e form

Guide
Runner
van e
blade
servomotor servomotor

---- - - _ - - - - - - 8

--- --------

feedback
control

LA

Ky

(7)

o r a dynamic t u r b l n e governor o f t h e form

Fig. i. elock diagram of kaplan turbine-generator
system.

z
U

When modelling t h e h y d r o u n i t with a haplan turbine,

because of the relatively s h o r t pipelines, t h e water
and pipes are taken t o be incompressible. With t h i s
commonly used assumption [ 1,2,3] t h e s t i f f waterhammer
equation can be presented as

Hz

Dy

= -Ky - GZ

with ZFR' and H,D,h and G o f appropriate dimensions,

such t h a t the closed-loop system has satisfactory
dynamic characteristics measured by t h e quadratic
criterion
Y

-Tw ( d q / d t )

(3)

The electromechanical equations o f t h e system can be

expressed as

= uou

d(i/dt

Ta,(dw/dt)

m - ml - Dw

(4)

The fact t h a t t h e regulation o f water flow i n Kaplan

t u r b i n e s i s performed b y t w o means, Goth t h e guide vane
opening and the r u n n e r blade position must be taken
i n t o consideration.
The corresponding
servomotor
equations are

(5)
The complete model i s obtained b y joining t h e above
equations. The model in state space form can be written
as
y
where

= Ax +
= cx

xT =

[6

Bu

o q a (Do] and t h e nonzero elements o f

matrices A and B are

a:;,

**; aZ1

a<?,

Ts/T,Ta;

= T,/(T,Tw);
ass

-l/Tr,,;

= -(T,Ts/T,-T,+D)/Ta

-ptje/Ta;

ad.< = -(Tc,TZ/Tl-T6)/Ta;
a35
bql

a%,

-(TST4/Tl-TH)/Ta

T3/(T,Tw); aZ3 = -l/(T,Tw)

T4/(TlT,,);
l / T g V ; b,,

a44 = -l/Tgv
= l/Trh

M w h mort! detailed models of a!l involved system

corrponents may be used i n particular situations, b u t it
i s unnecessary here. A iarger dimension o f t h e state
vector would increase the accuracy of t h e results t c
a certain degree, b u t n s t significantly.
The iqachitie Dutput vector y can be chosen a r b i t r a r i l y
slrid i s composed o f one o r more locally avaiiable
measurements (machine speed, derivative of speed,
ntegt-al o f speed, t u r b i n e torque. electric power o u t -

J z 1/2

[ ( x T Q x + uTRu)dt , QZO, R>O

(9)

Therefore, for t h e general case o f synthesis it i s

necessary t o determine: (1 j t h e regulator dimension,
( 2 ) regulator parameters and (3) feedback gains so t h a t
the dosed-Imp system has satisfactory dynamic characteristics.

-DESIGN

THE

PROCECURE
.
BY
PROJE-CIIVE CONTROLS

The investigations performed to date demonstrate t h e

significance o f optimal control, particularly t h e method o f t h e linear quadratic regulator. Unfortunately,
t h e practical realization o f these solutions i s not as
yet i n accord with great
possibilities t h a t t h i s methodology presents, Hhich stems from t h e fact t h a t i n
o r d e r t o apply t h e control it is necessary t o have at
disposal t h e complete state vector. The results are
often o f an unnecessarily h i g h order t o be attractive
i n practice, where numerous applications have shown
t h a t t h e deslred performances can be attained with loworder dynamic compensators. I n cases o f complex
systems, controlled with controllers which use only
pat-t of t h e measurements, t h e application of the LQR i s
s t i l l f u r t h e r complicated. Therefore, it is necessary
10 locjh f o r new solutions which, on one side, use a
restricted information s t r u c t u r e and, on t h e other,
have t h e possibility o f comparing i t s performance with
t h e optimal solution which wculd result if all the
state measurements #ere available.
The methodology o f o u t p u t regulator desigv, based on
the application of projective cot;trols, takes i n t o c o n sideration both of t h e above requirements. The system
with the LQR is chosen as t h e explicit description of
t h e desi red system dynamic
behavior
(t-eferenca
c?y*naniics), and looks f o r a permissible realization
whis--h keeps t h e dominant characteristics of t h e
reference dynamics defined in t h e above manner. The
objecti\$
is achieved
by
introducing
projective
matrices and by defining projective controls. I n t h i s
paper- t h e basic sharacteristizs of t h i s methodology
w i l l be presented, f o r t h e case of t h e design o f static
o r dynamic centralized regulators [ 7,8].

440
Consider the problem o f designing output feedback cont r o l s f o r the linear gentralized systems described by
(61, where XER", ykR , utRm and (A,B,C) i s a controliable
and
observable
triple
with
appropriate
dimensions. The static o u t p u t regulator design problem
corisists I n determining static regulator o f t h e form
( 7 ) . while t h e dynamic output regulator design problem
consists i n determining t h e dynamic compensator and
feedback control o f the form (81, such t h a t t h e closedloop system satisfies a prescribed set o f design
specifications.
We
assume
that
the
control
specification related t o regulation and stability are
translated i n t o an appropriate quadratic Criterion (9).
The goal o f t h e static o u t p u t feedback regulator design
i s t o retain an r-dimensional invariant subspace of the
optimal state regulator i n t h e resulting closed-loop
system. Because any dynamic regulator of order p w i l l
allow an (r+p)-dimensional invariant subspace o f the
reference solution t o be retalned i n the resulting
closed-loop system, t h e mere introduction o f dynamic
regulators allows on improvement i n design.
In
addition, the remaining freedom available in t h e choice
o f regulator parameters H and D can be used t o shape
t h e complementary spectrum o f t h e closed-loop system.
Since these poles determine t h e residual dynamics it i s
sufficient t o place them i n some acceptable region i n
the complex plane, which reduces t o an o u t p u t poieplacement subproblem.
The methodology i s analytically described i n detail i n
[7,8] and, i n brief, consists I n t h e following. Let t h e
system (6) be i n t h e state 'representation such t h a t
C: = [Ir 01 and let t h e resulting state regulator be
characterized by
U

= -

s =

R-'B'~Mx, A'M

MA

MSM

r..

with

[-N I ] A b ]

I]Xr

[-N

0, and with

tioned compatible with C

NA,,

= [Ir

(15)

1:: 111

parti-

01. Clearly, t h e static

controller i s satisfactory if t h e eigenvalues o f A r are

acceptable, i.e.

if Ar

i s stable.

I n contrast t o other

methods t h e proposed solution eliminates the dependence

o f optimal gains on t h e initial state statistics and
avoids t h e computationally unattractive solutions associated with t h e original formulation o f an o u t p u t
feedback regulator. Moreover, it introduces a number
o f csndidate solutions since various eigenvalues with
eigenvector directions o f the reference state feedback system (11) can be considered f o r retention.
Now suppose t h a t i n t h e given control problem no
candidate solution o f t h e static output regulator
design problem provides an acceptabie solution. I n that
case, one may either improve the design by utilizing a
higher nuniber of available measurements, again using
a static regulator, o r substitute a dynamic compensator
i n place of t h e static compensator. The later option
was developed [8] and i n brief, proceeds as follows.
Assume f i r s t t h a t t h e order p and t h e parameters H and
D o f t h e dynamic regulator are known and consider the
determination o f K and. G based on projective controls.
Defining the extended system and t h e extended p e r f o r mance criterion

BR-'B~

Ar

(10)

Y,

t E u

= A x
~e

CeXe

with the resulting closed-loop system

J = 1/2

(A

SM)x

(11)

FX

(x:Qexe

+ u'Ru)dt

with
defining t h e desired reference dynamics. Denote by X
t h e eigenvector matrix and by A = N F ) the eigenvalue
o f F, and let X r 6 R n X r be a matrix formed from r eigengectors o f

F associated with the subset o f eigenvalues

A r , i.e. FXr=XrAr. Define t h e projection matrix

ce =

pp
o

01

the problem becomes f u l l y analogous t o t h e one

previously considered. The reference dynamics are now

= -R-'B~MP~

(13)

I t i s then shown [7] t h a t t h e following holds:

(ij

XI],

(12)

and t h e projectiqe control by

= [z'

x$

P = xr(cxr)-'c

xe

f,xe,

Fe

A e - SeMe

with

The control (13) can be implemented i n

terms of available measurements, i.e.
U

(ii)
'

-~y,

K = R-'B~MX~(CX~)-'

(14)

The closed-loop system stemming from t h e

use of (13) retains R(Xr) as an invariant
AL= A

subspace,

space o f

i.e.

AcX,=Xrhr,

where

Owing to the s t r u c t u r e s of AP and Q,,

the solution o f

the extended Riccati equation (19) i s

SMP and R ( X r ) denotes t h e range

Xr.

( i i i ) Eigenvalues of

Ac

are the union o f

and t h e eigenvalues o f A P where

Ar

with M satisfying (10). Thus, t h e reference dynamics of

the extended system are characterized by

441

and t h u s

with t h e associated ei genstructure

HW

+ 011 =

W A

HWr

Df

W,A,

i P

(28)

with

Iw,
r

N, = [N,
where WHfRPXP, W t R P X P and X J

N,]

[V

Z]

-1

W r l

(29)

defined as earlier. Let

The residual spectrum i s now determined by t h e spectrum
of

now
FeXe

XeAp,

X e t R(n*p)x(r+p

(23)

with

Consider now the dependence o f N, on H and D. Defiring

L= W - W
I

with Bo= V

where A

and Ar are t h e d i s j o i n t subspectra of A. The

extended projection matrix i s then

r

and P = L(Y-UL)-,

N r becomes N r

N - BOPc,,

NU, so that

with A V as i n (15). Here, only t h e matrix Po depends on

the regulator parameters H and D. Thus, t h e shaping o f
A(A,-)
reduces t o t h e solution o f ai? o u t p u t pole-

placement

problem. Suppose

P,, is obtained, then t h e

controller parameters are given b y

with

Net [N,
U

= -

Nr],

and t h e projective control is

R - I B ~ M ~ P ~ X ~

= -Gz

R - B ~ M P ~ -Z R - ~ B M P y =

Uy

(26)

with

This control

guarantees

that

r+p

ArUAp w i l l

be

retained i n t h e closed-loop system. It, however, again

entirely specifies t h e complementary n - r eigenvalues o f
the
closed-Imp
system.
Thus,
with
preselected
controller parameters, t h e situation remains similar t o
t h e static case, except t h a t a higher dimensional system IS considered. However, t h e design parameters N
and N, can then be uniquely related t o H and D. This i s
t h e major improvement i n t h e design procedure as it re-presents R methodological
way
of selecting t h e
regulator parameters H and D together with t h e feedback
gains U and G.

Observe t h a t i n addition to meeting all specified

design
goals
the
solution
allows
an
arbitrary
realization of the dynamic regulator. Thus, i f Po i s
it
selected f i r s t , to shape t h e spectrum of A r e ,
determines t h e controller parameters uniquely. The
feedback
gains are then obtained b y computing
projective
controls
for
the
obtained
controller
parameters. The shaping o f t h e complementary spectrum
reduces, thus, tcJ the solution o f an o u t p u t pole
placement problem, and as observed from (31) t h e goal
of t h i s subproblem i s t o improve t h e spectral
characteristics o f 4 r , ~ l h i c h i s precisely t h e residual
dynamics considered
unsatisfactsry
i n t h e static
design. The dynamic-compensatcr can, therefore, be used
no? only t o retain a higher dirnensional invariant
s,Jbspace o f t h e state regulator solution b u t also to
shape t h e complementary spectrum. This is a major
improvement over pi-eviously existing design procedures
It IF t o be noted t h a t (31) represents the residual
spectrum f o r controllers o f all dimensions from p = 0,
wher: A(Ar) i s t h e residual spectrum using static

ccntrols, t o p .: n - r
ob server.

when (32) becomes a Luenberger

To inaicate t h e way t h i s i s achieved, consider t h e

eigenvectors o f F e i n some detail. Denote t h e f i r s t r
DESIGN PRQC E D URE OF T LJJBLN E-GQYE

eigenvalues and eigenvectors o f F e by an index r and

RNOR

t h e remaining p b y ar, index p. Then

The proceddre f o r t h e synthesis o f t h e t u r b i n e governor
ccnsists of the following steps:
I.

Csing a similarity transformation, equations

:E) and the c r i t e r i o n (9) are changed t o t h e
form where 2 = [ir 01.

L. The algebr3ic Hiccati equat,on (10,

IC

::)lved

442
wid t n e Ciosed-.-!Lwp system is derived ( I 1 ).
8.

Chec,k

A(Arj

for

various

hr

and

if

satis-

factor) use a static controller.

Ttils ends t h e f i r s t p h r t o f :he procedure f o r the
design of static t u r b i n e governors. We now proceed t o
t h e seccnd p a r t o f t h e procedure f o r t h e design o f
dynamic. t u r b i fie governors.
4. The t-e*eretice dynamics are defined b y (19).

5. A inatrix X

is

choseti, formed

from

r+p

eigenvectors of the matrix F, whose set o f

eigenvalues is Aq, so t h a t FX =X A
q

'1 4'

des(9tier i ~ o n i t ~ ) trhbe performance index o f t h e r e s u l t i l i g control system and observes and compares the
location of t h e residua! eigenvalues. The computer
aided design (CAD) interactive software program ha5
been developed based o n t h e widely used LAC (Linear
Algebra and Systems) commercial software package [ 5 ] .

The proposed methodology was applied t o the design o f

t u r b i n e governors on HPP "Djerdap 1
Yugoslavia. System data are given i n Table 1. The system matrices A
and B o f t h e linearrzsd model around the nominal
operating point are
'I.

6. The initial values o f t h e parameters Ho, Do

are chosen arid t h e Silvester equations (28)

are solved for W and Wr: Now t h e matrix o f
extended eigenvectors X e

is known, formed

Fe
so t h a t
from
the
eigenvectors of
F x =>' A
and has t h e form given b y (24).
el?

'

B'

0
-0.23
0

314.16
-0.594
0.566

ci

10

0.59

-1.46
0
0

2.

-0.37

1.28

._5

-0.18
0.61
0
-0.71

L .

0.711

7. The matrix of regulator gain is calculated as

TABLE 1
r

= [O

H y d r o Power P l a n t Data

1-1

R-'BTM]

(33)

and t h e matrix o f t h e extended closed-loop

system i s

- BKCr

(34)

Ta( s)

T.,(p.u.)

Tw(s)

2.23

T,(p.u.)

Tgv(s)

0.5
1.4

T,(p.u.

D(p.u. 1

2.

T7(p.u.)

-0.553

Tl(p.u.)

0.30

T8( P.u.)

-0.4725

T?(p.u.)

0.82

Tr,(s)

0.387

0.42
1

T,>(p.u.)

1.276

0.839

8. Matrix Po is found, which gives t h e best set

of

eigenvalues

of

the

residual

matrix

(31) and t h e parameters o f the regulator are

given b y expressions ( 3 2 ) .
I f the final set A(A,-)

i s acceptable, i.e.

t h e matrix

i s stable, t h e gain matrix i s determined from (33) and

the nimierical accuracy o f t h e whole procedure is
checked b y testing if t h e condition

i s satisfied.
The second p a r t of t h e procedure (steps 5,6,7 and 8 ) is
repeated f o r various A . From eigenvalues which make u p
t h e subset o f eigenvalues which are candidates f o r
retention i t i s necessary t o determine t h e projective
.contruls and perceive t h e determination o f t h e spectrum
o f the matrix A V < . f o r every subset Aq. From t h e set o f
s d u t i o n s obtained i n t h i s manner it i s necessary t o
:separate t h e acceptable solutions, i.e. those solutions
i n which t h e matrix A r e i s stable and choose t h e most
acceptable solution.
Tahing i s t o account t h e described features o f the
projec;;ive
c m t r o l s apgroach, i t i s ciear t h a t t h i s
methodology requi t-es an interactive t y p e o f software
env;:onmcnt. The control system designer i s involved i n
determin3tion of: optimal system per-formance index, ihva:-iant subset of eigenvalues, order and s t r u c t u r e o f
r e y u l a t w s and t h e f r e e parameter matrix Po. Alsc, t h e

The weighting matrices used t o define t h e reference

dynamics were Q :diag (1 1 1 1 l ) , R = [IO] i n all
sxarnples. A variety o f methods are available f o r choosi n g these matrices. I n practice, elements o f Q and R
are chosen b y using engineering judgment. These weighti n g s must be chosen so t h a t t h e resulting control meets
the
control
performance
specifications
and
rsquirements. I n t h i s study, t h e problem i s solved by
considering t h e following factors: ( i ) minimization of
the
machine speed deviation i s t h e most important
c r i t e r i o n and ( i i ) by increasing the weightings on confro! t h e system becomes slower, which is necessary
because o f guide vane servomotor opening arid closing
speed limits and r u n n e r blade servomotor opening and
closing speed limits. Solving t h e Riccati equation
(101, we f i n d the optimal closed-loop system matrix F,
possessing t h e reference spectrum given i n
Table 2.
The reference spectrum i s t h e same for all analyzed
cases.
Various t y p e s o f t u r b i n e governors were analyzed, b u t
only t h r e e are represented here: ( I ) static t y p e of
t u r b i n e governor with one available measurement
(machine speed), (2) static t y p e of t u r b i n e governor
with two available local measurements (machine speed
and derivative of speed) and (3) f i r s t order dynamic
t y p e o f t u r b i n e governor with one available loca;
measurement (machine speed).
I n case ( 1 ) only t- = 1 eigenvalue o f t h e reference
dynamics can be retained. There are only three
candidate solutions because o f one pair of conjugatecomplex eigenvalues.
A l l t h r e e possible candidste
sclutions f o r t h e system studied were ini.estigateJ.

443
Fietat.kitig A4=-1.66Yproduc,zs the best solution.
~ ~ a i i i eot
s t h e Liosed - ! m p s)s;em

matrix A

EIGE-,

for

solulim fir2 given i n Table 2. The fetidback gal!;

thi.

case is

TABLE 2

static,r=l
A ( A'.

static,r=?

-0.3.37 j8.5

--2.02
-1 .e69

-1.714
.-1.669*

--0.d6
1

-0.7

:a

NAc)

dynamic
A(AI

<l)

-0.23 -0.594 0.59 -0.371 -0.18

O I

and r
2 eigenvalues o f t h e optimal solution can be
retained. There are f o u r possible combinations for t h e
suboptimal
solution:
A I , ,<:
(kd,X4),
(Ad,X5)
and
(A4,X5J.

Examing

all

four,

we

find

-3.663.

procedure i s performed for- all combinations arid t h e

best solution is obtained b y retaining eigenvalues
( X 3 , A 4 ) . Sequentiai choices of t h e matrix Po gradually

0.647j3.5 *
-0.
7 0 59.06
~ ~
--1.68+J0.19 -2.02*
-1.68-j0.19 -1.659*
-0.122
-3.1 1 1

I n o r d e r tc improve t h e obtained solution, case two

w i l l be studied, when t h e static t u r b i n e governor with
two.-a\ailabie measurements is introduced, i.e. y' =
a]. I n t h i s case t h e o u t p u t matrix IS

= [ 4.1

(1).

retained eigenvalues

C.

F:!-laiip, folloNiiig :he proposed design methuaology, the

o r d e r dyr-iamic t y p e of t u r b i n e goverrior' :.:
daveloped. The o u t p u t vector is 3gain defineo as y =
; t i tP8is case p+:=2 and two eigenvalues of the reference
dyn2mics can be retained. Tahing into accosirit that the
referer*ce soluticn h a s a pair of conjugate-coniplex
eigenvallras, t h e number of possible coriibinations i s
four: X ,,,,, ( X , < , X 4 ) , (A,,X5)
and (A4,X,>).
The design

-0.726
''f '

first

System Eigenvalues

C o n t r o I I e r ci:

h(F)
-0.64Tj 8.5

fijr

[-I.%].

L:

-__--____

remerits i n r i i e tur b i i i e g'i.ernor. The scjlutio:i is

thmi t i ,,ase ( I ) , bu; an acfditionai osi;;liatc:?
f eigenvalues appears. The feedback. gain tor t n i s

tni;

that

solution is obtained when t h e pair A,,2

the

best

is retained.

Eigenvalues o f t h e closed loop system matrix A c

for

t h i s solbtion are given tn Table 2. I n t h i s case t h e

system i s also stable. T h e results show t h a t a stro:ig
stabtlizirg effect can be obtained by i n t r o d u c , n g two

improve t h e residual spectrum and the obtained solurton

i s presented i n Table 2. Turbine gover-nor parameters
are H:---4.166 and D=-?.305 a:id t h e corresponding yarn i s
K T [ -14.48 -15.291. The obtained set of eigenvalues
is more acceptaale than t h e solutiijti on t h e pre+ioEs
cases, since the eigenvalues o f t h e controliccf systf-m
lie rnore t o the l e f t o f the complex plane. I n t h i s case
the critical eigenva!ues are A 1 , ,=--0.:35 TjY.067, which
iil
comparison
to
the
previous
approximately 10% larger real part.

case,

(1)

.0039

0.
Y

3007

aJ
E
I

(1)

(2)

fa

- .0054

(3)
(4)

- .0100

2.5

5.0

Time

an

The h y d r o u n i t s i n HPP "Gjerdap 1 " are equipped wit!electronic

temporary
speed
drwp
type
turbirie
governors. It is o f interest t o compare t h e proposed
suboptimal static and dynamic t u r b i n e governors with
t h e existing
conventional
t u r b i n e gcvernor-. The
responses of t h e characteristic variabla
s f the
closed-Imp system, due t o an impulse disturbance are
shown i n Fig. 2. The disturbance used i s an impulse
change o f a lsad torque, which i s introduced i n t o t h e
electromechanical equation (4). As shown i n Fig. 2 ail
machine speed responses r e t u r n t o the null steaaq
state. From the results obtained, i t can be seefi t h a t
t u r b i n e governors desisned using the proposed method
are suitable f o r enhancing t h e system stability and
yield a better performance compared t o that obtained
using the conventional governor. Obtained peak values

has

---.-.,.,. ...........

7.5

10.

(5)

Fig. 2. Machine speed responses

( 1 ) conventional governor, (2)
static governor, r-1. (3) static governor, r = 2 . and ( 4 )
dynamic governor.

444
and settling times f o r all study cases are given i n
TABLE 3

m
r
e

Characteristic Time Response Values

type of
governor
conventional
static,r=l
static,r=2
dynamic,r=l,p=l

peak value
(P.U.)

REFERENCES

____.

settling time

0.0086
0.0083
0.0078
0.0078

(SI

18.9
16
8.2
6.8

Table 3. Applied control strategies enabled the

suboptimal solutions t o reduce speed overshoot from
3.5% t o 9.3% and t o provide faster responses to load
shedding from 15.34% t o 64% as compared t o the
conventional electronic t u r b i n e governor.

111 T.

Sontakke and T. Basu, "Improvement i n the Tran-sient Response of a Hydrosystem by Compensation and
Stabilizing
Signal,"
Electric
Power
System
Research, No 4, pp. 213-223. 1981.

[ 2 ] P. Kopacek and E. Zauner, "Governing Turbines b y

Microcomputers," Water Power 8 Dam Construction, No
9, GP. 26-30, 1982.

[ 3 ] S. Zongshu, 2. Chengang and F. Wenyuan, "Waterhammer Pressure Compensation i n Turbine Regulating

systems," Water Power & Dam Construction, No.9, pp.

25-28, 1986.
C. Sanathanm, "Double Loop Control of Hydro Turbine Unit," Water Power & Dam Construction, MO 12.
PP. 25-27, 1988.

CONCLUSION
The described methodology permits the design o f multrvariable static and low-order dynamic t u r b i n e governors
i n hydropower plants with Kaplan turbines. It i s based
on projective controls and provides a systematic design
of the control loop with an increasing number o f available measurements and of the dimeiision o f the controller. The corresponding CAD interactive software program
i s developed which i s based on the LAS software
pacbage. The main iiumerical requirements are related t o
eigenvalue/eigenvector calculations, f o r which adequate
cornoutational tools exist.

D. Findlay, H. Davie, T. Foord, A. Marshall and D.

Winning, "Microprocessor- based Adaptive Water Tu r blne Governor," IEE Proc., ~01.127, Pt.C, pp. 360.-

369, 1980.
161 P. Ham and N. Green , "Developments and Experience
i n Digital Turbine Control," IEEE/PES 1988 Winter
Meeting, New York, 88,WM 236-2, 1988.

[ 7J

J. Medanic, "On stabilization and optimization by

output feedback," Proc. Twelfth Asilomar Conf. on
Circuits, Systems and Computers, Pacif:c Grove,
pp. 412-416, 1978.

183

J. Medanic,
Design o f Low Order Optimal
Dynamic, Regulators f o r Linear Time Invariant
Systems," Proc. Conf. on Information Theory and
Systems, Johrr Hopkins University, pp. 97-102, 1979.

-NOMENCLATURE
- ~ _ _

T -T,

t u r b i n e flow, P.U.
t u r b i n e torque, p.u.
steady state head, P.U.
guide vane opening, p.u.
machine speed, p.u.
runner blade angle, deg.
turbine flow and torque coefficients, p.u.

F,

waterhammer, p.u.

9
m
'

h
a
0

4"

T"
(5

mr
Ta

D
uc

TW
Tr h

x
U
Y
A

B
C

z
P
H,D
K,G
J
Q,R
M
P

x
A

control vector dimension

output vector dimension
subscript denotes extended system qtiantities

"

191 S. Bingulac and N. Gluhajic, "Computer Aided Design

o f Control Systems on M i n i Computers Using LAS
Language," IFAC Symp. on Computer Aided Des!on
of
Multivariable Technological System,
Purclue
i l n i versi t y , 1982.

water starting time, s

torque angle, rad

_____
BIOGRAPHIES

load torque, p.u.

u n i t inertia constant, s
damping coefficient, p.u.
control signal, p.u.
guide vane servomotor time constant, s
runner blade servomotor time constant, s
state vector
control vector
output vector
system matrix
control matrix
output matrix
dynamic regulator state vector
dynamic regulator dimension
regutator parameters
feedbach gains
performance index
state and control weighting matrices
Riccati matrix
p rojection matrix
eigenvector matrix
set o f eigenvalues
state vector dimension

Dusan B. Arnautovic was born i n Belgrade, Yugoslavia,

M.S. and Ph.D.
degrees i n electrical engineering from the University
of Belgrade i n 1973, 1978, and 1988 respectively.
From 1975 t o 1977 he was Research Assistant with
the University of Belgrade, Electrical Engineering
Department. Since 1977 ,,he has been with Electrical
Engineering I n s t i t u t e
Nikola Tesla", Automation %,
Regulation Division where he i s presently a Senior
Research Engineer. His research interests are i n power
system and plant control, modern control theory and
power system modelling and simulation.

on March 28, 1950. He received the B.S.,

Qobrila M. Skataric was born i n Belgrade, Yugoslavia,

i n 1962. She received the B.S. arid M.S. degrees i n
electrical engineering from the University of Belgrade,
i n 1985 and 1983, respectively.
Since 1985 she has been with Energoproject Holdin;
Co., Water Development Division, working on hy?ro power
plant control problems. Her research interests are
thecjretical and practical aspects of power system
optimal rind near optimal control.