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Abstract— The multistage steam turbine system is composed PID controllers are generally optimized with intelligent
of high pressure turbines, medium pressure, and low pressure. algorithms especially neural networks, genetic algorithms
The system response with turbine rotational speed has an (GA), ant collony and so on. Used a new type of fuzzy
integrator tendency. When using the PID controller on closed adaptive PID controller on the system. The algorithm is
loop, the response has high overshoot, fast and no robust. In simulated in MATLAB to see the response obtained.
order for the system to have one-order response characteristics Comparison between PID and Self Adaptive PID-Fuzzy
in the absence of overshoot, and robust capability, innovation of controllers can be seen as recovery time to return to setpoint,
rotational speed settings is made. Then the PID-Fuzzy self- and RMSE value to assess robust level.
adaptive controller is designed. The PID-Fuzzy controller aims to
improve the responses to first order, in particular eliminating Multistage steam turbine system has a high order degree,
overshoots, and improving the dynamic response using the and the system has the nature of integrators and systems can be
reference model. The self-adaptive controller functions to adapt said complex. Shows the system has strong turbine coupling,
the controller parameters when the load changes. The existence large inertia, time change parameters and uncertainty. To get
of the maximum load, nominal, and minimal and then varied better results can not use ordinary PID controller. Since PID
with the load up, down, and fluktuatif. The system response is controllers can not take precautions, controls and requirements
capable of returning to the 3000rpm setpoint, achieving a steady reach the appropriate response speed. The Self-Adaptive PID-
99.3% time of 20-47.1 seconds, with RMSE values respectively
fuzzy controller is an arrangement that uses a fuzzy controller
1,151%, 3,278%, and 4,058%.
with a PID structure, then an adaptation of the controller
Keywords— Steam Turbine Multistage, Self Adaptive, PID-Fuzzy, parameters for the system to have good robustness and the
Overshoot, Robust
system response has a small overshoot as well as a short
transition
I. INTRODUCTION
II. BASIC THEORY
Steam turbine setting system is designed with technology
that can operate turbines safely and reliably. There are many 2.1 Multistage Team Turbine
considerations to be taken when choosing a controller for The multistage steam turbine works on a larger power load,
steam turbine applications. Starting from a mechanical control as it consists of three turbine arrangements. The process of
system, electrical or controller programming. energy changes in the steam turbine takes place through three
There are two categories of steam turbine rotation speed stages, namely thermal energy (heat rate) into mechanical
management as follows: security system (protection) and energy, then turbine rotation into electrical energy. The process
process system. Turbine safety system aims to eliminate / of change is illustrated in Figure 1.
minimize the possibility of damage to the engine or hazard to
the operator, protect the turbine from over speeding, monitor
all parameters of the turbine critically, and observe the turbine
in case of conditions that may cause equipment damage. The
key safety element is the regulation of the steam fluid supply
valve. This turbine valve may be a separate on / off valve or
serves to regulate the opening of the valve by producing a
steam flow of heat used to regulate the rotational speed.
Figure 1. Multistage Steam Turbine
By focusing on steam turbine steam rotation to perform the
process, it is necessary to adjust the amount of steam that The working principle of multistage steam turbine begins
enters the turbine rotary chamber. By relying on governors on with entering the steam flow rate of heat obtained from the
steam turbines that have two main parts; namely governor boiler. The flow of hot steam comes in twisting the turbine
control valves and steam valves. gears into a turbine unit force. The units of turbines HP, MP,
and LP are coupled to a single axis which becomes the overall
torque. After the division of the power fraction and the time The steam turbine setting is performed by the governor of
constant parameters of each turbine. The overall torque of the the result of the deviation or turbine rotation speed difference
system is connected to the turbine load to produce turbine with the setpoint. The governor is composed of mechanical
rotational speed. The cycle runs continuously to form a closed hydraulic and / or electrical hydraulic, which results from
cycle. The multistage steam turbine is divided into 3 parts reading changes in the speed of play on a computer. The
turbine and 2 main valves: influence of valve openings is influenced by the heat vapor
1) High Pressure turbine ( ) pressure, where the vapor flow is the product of the valve area
2) Medium Pressure turbine ( ) with the turbine actuator.
3) Low Presure turbine ( ) Steam turbine steam rotation is carried out to keep the
4) High Pressure Valve (HPV) turbine spin as per power requirement of 50Hz. When
5) Re-Heat Valve (RHV) converted to a ratio per minute (rpm), the turbine's rotational
Each turbine unit consists of several major mechanical speed should be kept at 3000rpm. If the rotational speed
components, ie exceeds the limit, it will cause a high overshoot which may
1) Power Shaft Turbin cause damage to the equipment.
2) Compressor
3) Combustion Chamber 2.3 PID Controller
4) Turbine teeth PID controllers are one of the most widely used
controllers to improve system performance in the industry.
2.2 Turbine Steam Multistage Configuration The simple PID controller structure is one of the factors that
In configuration with a given system, the steam turbine the controller is interested in. The PID controller parameter is
consists of a High Pressure (HPV) valve, re-heater valve the proportional strengthening of Kp, the integral time τi, and
(RHV), with High Pressure (HP), Medium Pressure (MP), and the derivative time τd. The PID controller algorithm can be
Low Pressure (LP) flow. In each turbine-generator unit, the explained in Equation (1) [2].
speed / load setting function is obtained by adjusting the high de(t )
t
1
pressure valve opening (HPV). In addition to HPV it also u (t ) K p e(t ) e( )d d
(1)
required a second valve to control the flow rate of heat vapor i 0 dt
extracted by HPV to the MP, LP and crossover pipe (CP). The u(t) is a control signal and e(t) is an error signal. The
integration of the turbine is capable of adjusting and limiting control signal from the controller is the sum of 3 actions
the rotational speed by involving the opening of the re-heat namely, proportional action (P), integral (l) and derivative (D).
valve (RHV). The re-heater stores excess steam so that HPV PID controllers have a function to correct errors through
controls are unable to limit excessive rotational speed. proportional action, eliminating errors in steady state through
Fast rotational speed control required involving HPV and integral action and anticipating future errors through
RHV control signals. Especially RHV is able to control about derivative action.
60% to 80% [1] of the total power. Then the controller is able
to influence the opening of Re-heater Valve (RHV). Output 2.4 Tuning Rules of Ziegler-Nichols PID Controller
from the speed sensor compared to the speed to be achieved Ziegler-Nichols proposed a rule in determining the value
(setpoint), resulting in error readings by speed control. Control of PID controller parameters based on the characteristics of
signals are used to drive the servomotor as an actuator to the system response. Ziegler-Nichols has two methods in the
regulate the steam flow rate of heat against HPV and RHV use of its tuning rules, the Open Loop method and the Close
openings. Loop method [2]. In this study used Ziegler Nichols tuning
method Closed Loop.
Here is the fuzzy set and rule base specified for performing
a fuzzy operation: [5]
3.2 PID Controller
Table 2. Basis of Fuzzy Rules
Linguistic Description Index
Zero (Z) 3
Beban Daya
Maximal Load (1000 MW) (1000/314)/unit
Nominal Load (750 MW) (750/314)/unit
Minimal Load (500MW) (500/314)/unit
Figure 9. Design of Self-Adaptive PID-Fuzzy Controller Table 4. PID Response with Fluctuating Load Variation
Load ( ) ( )
Initialization is done by determining the value of Ku, delta Ku,
Maximal (1000MW)
indigo C and delta C. With the change every time is used
after discretization to adapt the change of error, delta Nominal (750MW)
error and integral error. If the gain revision Ku and the C Minimal (500MW)
value has been done, then get the new defuzzification value
( ) with the new and changes. After that
a new defuzzification with Center Of Gravity (COG)
calculation and new
IV. RESULTS
4.1 System Testing
In conducting system testing, it is necessary to know in
advance the relation between power changes P with rotational
speed and torque τ steam turbine torque. Due to the
variation of power load P that will be used is the inversion of
the load torque to the load speed of play. Here is a
Figure 9. Response System with PID Controller Variation of Fluctuating Load
mathematical equation:
I. CONCLUSSION
Based on the results of testing and analysis can be
obtained conclusion as follows:
1. Self Adaptive PID-Fuzzy controller design is able to keep
turbine turn speed at 3000 rpm setpoint with load changes
of 1000MW, 750MW and 500MW without overshoot
Figure 16. Response System with Self-Adaptive PID-Fuzzy Controls during initial generation.
Variation of Load Down
2. Self Adaptive PID-Fuzzy controller capable of reducing
interference and has a good level of robustness. RMSE,
respectively, of variations in rising, falling, and
fluctuating loads are 1.151%, 3.278%, and 4.058%
REFERENCE
[1] Dulau Mircea, Bica Dorin. 2014. “Simulation of Speed
Steam Turbine Control System”. The 7th INTER-ENG
2013. ScienceDirect, Procedia Technology I2 (2014)
716-222. Departement of Electrical and Computer
Engineering, University of Tirgu-Mures.
[2] Kochummen Sherin A, A Nasar. 2015. “Model
Figure 17. Control Signals with Self-Adaptive PID-Fuzzy Controls Variation Reference Adaptive Control Based PID Controller
of Load Down Designs for Steam Turbine Speed”. International
Journal of Science and Research (IJSR). Department of
4.8 Analysis of System Response with Self-Adaptive PID- Electrical and Electronics Engineering, TKM Collage
Fuzzy Controller of Engineering, Kollam. India
Analysis of system test results with self-adaptive PID- [3] Balochian Saeed, Vosoughi Soheli. 2012. “Design and
Fuzzy controller, described in three test of load variation, that Simulation of Turbine Speed Control System Based on
is fluctuating load, rising load, and down load. The RMSE Adaptive Fuzzy PID-Controller”. Advances in
values are 4,058%, 1,151%, and 3,278%, respectively, and the Mechanical Engineering and Its Aplication (AMEA) .
system response is in accordance with the work specification, World Science Publisher. USA
reaching a steady state of 99.3% at 120 seconds in the absence
of overshoot. [4] Ogata, Katsuhiko. 1997. “Modern Control System :
At fluctuating loads it is of particular concern when the Third Edition”. 670-674.
load is increased twice and discharges once. Where when the [5] Jantzen, Jan, ”Design of Fuzzy Controller,” Technical
load is given from the nominal load to the maximum there is a University of Denmark, 1998.