Transcript Advanced Power Plant Control - Hydroelectric For improved stability, improved LFC performance in interconnected or island operating mode, using non-linear model reference.

Advanced Power Plant Control - Hydroelectric
For improved stability, improved LFC performance in interconnected or island operating mode,
using non-linear model reference governor control technology.
• APPC - Hydroelectric control algorithm implemented in a modern DCS/PLC.
• Interconnected (Power) and Island (Frequency) Control Modes.
• Performance analysis toolkit and engineering services.
• National Instruments cRIO subsystem for the measurement of Power and Frequency.
• Hydroelectric Power Plant Simulator.
• Simulator-based Installation and Testing.
• Multi-Generator Site Optimization algorithm.
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Slide 1
Advanced Power Plant Control
for the following energy sources
Hydroelectric
Fossil
Wind
Biomass/Solid Waste/Cogeneration
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Nuclear
Combined Cycle Gas Turbine
Slide 2
APPC Hydro vs. Classic Control AGC-LFC Performance Comparison
APPC Hydroelectric
AGC (Power) Requirement:
90% -> 40% in 10 seconds
40% for 10 seconds
40% -> 90% in 10 seconds
Power
Rotor Frequency
Turbine Head
Gate Positioner
APPC achieves the required AGC performance
Classic Control
performance error = ∫ | e | dt = 0.8 pu-sec
Classic Control does not achieve the required
AGC performance
performance error = ∫ | e | dt = 4.0 pu-sec
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Slide 3
APPC Hydro vs. Classic Control AGC-LFC Performance Comparison
APPC Hydroelectric
AGC (Power) Requirement:
10 second interval pulse train as shown
Power
Rotor Frequency
Turbine Head
Gate Positioner
APPC achieves the required AGC performance
Classic Control
performance error = ∫ | e | dt = 0.3 pu-sec
Classic Control does not achieve the required
AGC performance
performance error = ∫ | e | dt = 6.25 pu-sec
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Slide 4
Technical Description
APPC - Hydroelectric
1.
Hydroelectric Power Plant Modeling and Simulation
2. APPC - Hydroelectric discrete-time, non-linear model reference control algorithm
3. APPC - Hydro simulated Interconnected (Power) Mode Performance
4. APPC - Hydro simulated Island (Frequency) Mode Performance
5.
Project Activities
6.
Simulator-based Installation and Testing Approach
7.
Design of Hydroelectric Power Plant Performance Tests
8.
Performance Analysis Toolkit
9.
NI cRIO-based Power-Frequency Measurement and Power Generation Observer
10. Gate Positioner Response Analysis
11. Turbine Characteristic Curves
12. Generator Dynamic Response
13. Island Mode Response Test
14. National Instruments cRIO Configurations
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Slide 5
APPC - Hydroelectric: Modeling
Tunnel:
d/dt Uc = (H0 + Zc - Hs -
f2 Uc2)
/ Twc
Surge Tank:
d/dt Zs = ( Uc - Ut ) / Ts
Hs = Zs + f0 |Us| Us
Penstock:
d/dt Ut = (r(Hs + Zp) - Ht - f1 Ut2) / Twp
Twc (5 - 50 s)
Ts (100 - 1000 s)
Twp (0.4 - 2.0 s)
Tg (0.2 - 0.5 s)
f0 (0.1 - 0.2)
f1 (0.01 - 0.04)
f2 (0.04 - 0.1)
H (2 - 10 s)
Pmax (1.5 - 3)
De (10 - 30)
DL (0.5 – 1.5)
Gate Positioner:
d/dt GP = ( UP - GP ) / Tg
G = hysteresis(GP)
Turbine:
Ht* = (Ut / g1(G))2
Pm = Ut Ht* g2(G) = Ht*1.5 g3(G)
Generator
(interconnected mode):
d/dt ωr = ( Pm - Pemax(sinδr + α sin2δr) - De(ωr - ωG) ) / 2 H
d/dt δr = ω0 (ωr - ωG)
Generator
(island mode):
d/dt ∆ωr = ( Pm - Pe0 - DL ∆ωr ) / 2 H
∆ωr = ωr - ωrset
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Slide 6
Wicket Gate - Turbine - Generator Model
interconnected mode:
Up
1
Gp
G
1 + TPs
g3( )
( )1.5
Pm +
ωr
1/2Hs
+
Pd
+
D
-
+
Ht*
Pe
Po(sin(δ) + α sin(2δ))
δ
ω0/s
ωG
loop output - - positioner - - gate - - - - turbine - - - - - - - - - - - - - - generator
island mode:
Up
1
1 + TPs
Gp
G
g3( )
( )1.5
Pm +
ωr
1/2Hs
+
+
DL
-
+
Ht*
Pe0
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ω0
Slide 7
Discrete-time Non-linear Model Reference Control
event driven
Power
Control
Algorithm
Pe set(j)
Pe(j)
Power
Generation
Observer
adaptive discrete time step size
interconnected mode
~ 5 seconds
Pe(t)
AGC
Mode
Selector
ωr(t)
operator
P(j)
island mode
ωr set
Frequency
Control
Algorithm
ωr(j)
Filter/
Sampler
G(j)
÷
g3-1()
Ht*1.5(j+1)
Hydroelectric
Model Reference
Predictor
Hysteresis Gu(j)
Smoother
Compensator
g4()
Blade
Smoother
Hysteresis
B(j)
Compensator Bu(j)
(with variable pitch blades)
Ht*(t)
ωr(t)
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Gu(t)
Slide 8
Bu(t)
Classic Control - Load Frequency Control
+
ωrset
(conceptual)
ωr
filter
-
deadband
1
Rp
load
rate limits
limits
+
+
deadband
τR S + 1
(RT/Rp)τR S + 1
rate limits
limits
deadband
Up
droop, Rp = 0.05
transient, RT = 0.38
reset,
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τR
= 1 s, interconnected
= 5 s, island mode
Slide 9
APPC - Hydroelectric - Interconnected Mode Performance
(moderate variation of AGC load allocation)
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Slide 10
APPC - Hydroelectric - Interconnected Mode Performance
(fast variation of AGC load allocation)
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Slide 11
APPC - Hydroelectric - Island Mode Performance
(external AGC triggered at 2% overgenerated)
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Slide 12
Performance Analysis and Engineering Services
For Francis, Kaplan, Pelton turbines, surge tanks, and with modern DCS/PLCs.
Analysis
1. Data Acquisition System setup, interfacing to PLC, programming in PLC.
2. Power-Frequency measurement, signal analysis and filtering.
3. Analysis, modeling, and simulation of the tunnel, surge tank, and penstock.
4. Analysis, modeling, simulation of the governor system.
5. Design of the Performance Tests.
Testing
6. Testing for the penstock water hammer dynamics.
7. Testing for the wicket gate and blade pitch positioner hysteresis and response.
8. Testing for the characteristic curves for the turbine flow, power, and efficiency.
9. Testing for the generator dynamic response.
10. Baseline Performance monitoring and analysis for interconnected and island operation.
Simulator
11. Configuration for the Hydroelectric site and the APPC control algorithms.
12. Comparative simulation performance analysis of existing and APPC control algorithms.
13. Integration of the Hydroelectric Power Plant Simulator at the site.
Installation of the APPC control algorithms in the DCS/PLC
14. Parallel control loop block, bumpless transfer switch.
15. Function Block Configuration and or Structured Text Programming. Simulator-based testing.
Performance Trials and Acceptance Testing
16. Interconnected Mode - load following response.
17. Island Mode - frequency control response, and or simulated island operation.
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Slide 13
Simulator-based Installation and Testing
DCS /PLC
Turbine Head
Turbine Flow
Rotor Frequency
Electric Power
Turbine Head
Turbine Flow
Rotor Frequency
Electric Power (PGO)
existing
control loop
Gate Positioner
APPC
control loop
Gate Positioner
Gate Positioner
Grid Frequency
Hydroelectric
Power Plant
Simulator
Turbine Head
Turbine Flow
Rotor Frequency
Electric Power
Rotor Frequency
Generator 3 Phase Voltages
Generator 3 Phase Currents
NI DAQ / PAC
Subsystem
Electric Power (PGO)
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Slide 14
Performance Analysis Toolkit
High Speed NI-DAQ
Power Spectral Analysis
Signal Processing and Filtering
Time Series Analysis
Fourier Analysis
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Slide 15
Power and Frequency Measurement - Power Generation Observer
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Slide 16
Gate Positioner Step Input Analysis
Step Input without conditioning
Step Input with conditioning
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Slide 17
Identification - Gate Positioner Hysteresis
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Slide 18
Characteristic Curves - Flow, Power, and Efficiency
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Slide 19
Island Mode Response Testing
(0.02 pu load reduction)
0.02 pu
2H = 11.4 s
DL = 1
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Slide 20
National Instruments cRIO Controller
Power and Frequency Measurement Configuration
Rotor Frequency
Phase 1 Voltage
Phase 1 Current
Phase 2 Voltage
Phase 2 Current
Phase 3 Voltage
Phase 3 Current
NI cRIO
Controller
with
LabVIEWIEC 1131
Software
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Power Generation
Rotor Frequency
Slide 21
National Instruments cRIO Controller
Identification Configuration
Rotor Frequency
Phase 1 Voltage
Phase 1 Current
Phase 2 Voltage
Phase 2 Current
Phase 3 Voltage
Phase 3 Current
Turbine Head
Turbine Flow
Gate Positioner Output
NI cRIO
Controller
with
LabVIEWIEC 1131
Software
Power Generation
Rotor Frequency
Gate Positioner Input
PC with
APPC Hydroelectric
Software
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Slide 22
National Instruments cRIO Controller
Simulator Configuration
Phase 1 Voltage
Phase 1 Current
Phase 2 Voltage
Phase 2 Current
Phase 3 Voltage
Phase 3 Current
Gate Positioner Output*
NI cRIO
Controller
with
LabVIEWIEC 1131
Software
Grid Frequency
Gate Positioner Output*
Power Generation
Rotor Frequency
Turbine Head
Power Generation
Rotor Frequency
Turbine Head
PC with
APPC Hydroelectric
Software
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Slide 23