Hydraulic Turbine and Governor (Power System Blockset)

Model a hydraulic turbine and a PID governor system

Library

Description

The Hydraulic Turbine and Governor implements a hydraulic turbine model, a PID governor system, and a servo-motor. The static gain of the governor is equal to the inverse of the permanent droop Rp in the feedback loop. The input to this feedback loop can be selected to be the gate position or the electrical power deviation by setting the droop reference parameter in the dialog box to one or zero, respectively.

The hydraulic turbine is modeled by a nonlinear system with a water starting time Tw.

The PID regulator has a proportional gain Kp, an integral gain Kiand a derivative gain Kd. The high frequency gain of the PID is limited by a first-order low-pass filter with time constant Td.

The gate servo-motor is modeled by a second-order system with gain Ka and time constant Ta. The gate's opening is limited between gmin and gmax and its speed is limited between vgmin and vgmax.

The last entry of the dialog box is used to specify the initial output power. This value which is used to initialize all the states of the model allows you to start the simulation in steady-state.

Dialog Box

Inputs and Outputs

The first two inputs are the desired speed and mechanical power. The third and fourth inputs are the machine's actual speed and electrical power. The fifth input is the speed deviation. Inputs 2 and 4 can be left unconnected if you want to use the gate position as input to the feedback loop instead of the power deviation. All inputs are in pu. The outputs of the block are mechanical power Pm for the Synchronous Machine block and gate opening (both in pu).

Example

See the Synchronous Machine block.