ModellingofSteamTurbineand

itsGoverningSystem
DrMSRMurty
GENERATORCONTROLS
Grid
Reference
ST : steam
turbine
G : generator
SV : stop valve
CV
SV
Steam
Speed
Power
GOVERNING
SYSTEM
G
S
T
CV contr. valve
valve
Fig. 1 STEAM TURBINE GOVERNING SCHEME
S
P
E
E
D
+
Valve
Position
SET
POINT
-
Mechanical
Power
+
GOVERNOR TURBINE ROTOR
INERTIA
Fig2GOVERNINGSYSTEMFUNCTIONALBLOCKDIAGRAM
GoverningControlsystem
SpeedSensing :Mechanical(Flyballtype),
Hydraulic(Pump),Electric(toothedWheel
pickup)
MWTransducerforPower
Processing :Hydromechanical,Electro
hydraulic,DigitalElectrohydraulic
Amplification:Hydraulicamplifiersinvarious
stages
Actuation:HydraulicServomotor
TG Unit Operating Modes:
Isolated : S Open : Speed changes when gov valve is adjusted
Interconnected : S Closed or grid connected: Speed is unaffected
TGUnitOnGrid:LoadControl
TGSpeed/Frequency
doesnoteffectgrid
frequency
Aftersynchronization,
changeinvalveopening
cannotchangeTGunit
speedbutchangesonly
PowerOutput
InfiniteInertiaBus
GRID
ControlRequirements
Startup: To control machine speed for
proper synchronization
Normal Operation: To Control MW and To
participate in the control of system frequency
Emergency: Load Rejection/Circuit Breaker
Opening
To restore speed deviation quickly without
much transient overspeed
Governingsystem:Technology
MechanicalHydraulicControl(MHC)
Electro HydraulicControl(EHC)
Sensing,Processing,primaryamplification
usingelectroniccircuitry
Transistorversion(BHEL/KWUSiemens
Iskamaticmodules)
DigitalElectro HydraulicControl(DEHC)
Microprocessorbased
Processing
Decideshowvalvepositionshouldbechanged
whenspeedchanges
Objective:Minimumupsetsinthesystem
SpeedController,LoadController:structure
andtuningdecidetransientperformance
Droopcharacteristic(4%or5%):important
governingparameter
ElectronicControllerFeatures
SeparationofSpeedControlandLoad(Power)
Controlfunctionswithseparateprocessing
philosophy
SpeedController:Proportional Derivative
action:AnticipatoryControl
LoadController:Proportional Integralaction
InteractionwithATRS andTSE
SimpleSpeedgoverningsystem
/Gate
Command
Gate
Oil
Servomotor
SENSING
PROCESSING
AMPLIFICATIONANDACTUATION
SETPOINT
Steam
Actuation of Valve
(Servomotor)
Hydraulic
Amplification
Speed
&
MW
Primary
Amplification
Sensing
Processing
Electro-hydraulic
Converter
Control
Valve
E
H
HYDRAULIC
PART
S
T
G
ELECTR
ONIC
PART
Fig 3 ELECTRO HYDRAULIC GOVERNOR SCHEME
VALVE
OPENING
COMMAN
D

Load
Speed
+
+
Load
Ref.
Spee
d
Ref.
SPEED
CONTROLLER
(PDP)
LOAD
CONTROLLER
( P I )
SELECTION
LOGIC
(MIN MAX)
Fig 4 SPEED CONTROLLER AND LOAD CONTROLLER IN EHG
DroopCharacteristic
Speed
Change
Turbine
Power
Change
=(Load)
Valve
Opening
Change
SteamFlow
Change
Load%
SpeedOr
Frequency
104%
100%
0 50
100
52Hz
50Hz
Frequency
(Hz)
50
52
4% Drop
Load 0% 50%
100%
Fig 6 REGULATION OR DROOP CHARACTERSTIC
Time
(Sec)
Spee
d
(%)
Unstable
Oscillatory
(Hunting)
Fig 7 TYPICAL SPEED HUNTING TRANSIENT
Valve
Opening
Dead band or insensitive
zone
Speed /
frequency
Fig. 8 DEAD BAND
CHARACTERISTIC
STEAMTURBINESCHEMEWITHHPANDIP
CONTROLS
Reheate
r
IPCV
HPCV
Steam
Condenser
LPT
H
P
T
I
P
T
G
R H
TransferFunctionofSteamVolume
Steam
Vessel
Steam
inflow
Steam
outflow
Steam
pressure
1
----------
(1 +T
V
. s)
Wi W o
Functionalblockdiagramofturbine
governingsystem
TURBINECONTROLLER
29
Feed forward provision
K
S
V
S
Speed Controller: Proportional Derivative
Load Controller : Proportional Integral
Load
Load Ref
Speed
Ref
SPEED
CONTROLLER
LOAD
CONTROLLER
SELECTION
LOGIC
E
H
To Hyd.
Amplifier
speed
K
s
(1+V
s
T
s
.S)
(1 +T
s
. S)
droop
K
PL
+ 1
T
IL
S
KS
PI
t
Output
(Y)
t
PDP
K
Output
(Y)
SpeedController
LoadController
Parametersinfluencingtheperformance
RotorInertia
Droop
Speed/LoadControllerparameters
Deadband
Valvecharacteristics
IPTurbinecontrol
Pressurecontrolmodes
GovernorRegulationorDroop
4%Droop:4%SpeedChangewillcause100
%changeinPowerOutput(Gain:25)
Droopisnecessaryfor
i)Sharingofload
ii)Ensuringclosedloopstability:Lowervalueof
droopincreasesgainandmakesthesystem
oscillatory
GoverningSystemResponse
Responsetimesareimportant:delayin
correctioncancausetransientspeedrisehigh
andtriptheturbine
Stabilityofgoverningsystemdependson
processingalgorithm(PI,PID,PDPetc.,)and
onsystemparameters&timeconstants
Performancespecifications:LoadRejection
Rejectiontozeroloadfromanyload
Speedshallbereturnedtothesetpointas
maybemodifiedbyspeeddrooporregulation
Nomorethanoneunderspeeddeviation
exceeding5%
Nomorethanoneoverspeeddeviation
exceeding5%afterinitialoverspeed
deviation
Performancespecifications:Sustained
conditions
Steadystategoverningspeedband:Notmore
than0.3%(atnoloadoranyload).Also
calledspeedstabilityindex.
Steadystategoverningloadband:Notmore
than0.4%(at5%speeddroop)Alsocalled
powerstabilityindex.
StabilityIndex:Degreeofstability
Judgedbythemagnitudeofsustained
oscillationsofspeedandpoweroutputfrom
theturbinethatareproducedbythegovernor
system
Stabilityindexillustratestheregulating
performanceforthegovernorandturbine
GovernorDeadbandillustratesthe
performanceforthegovernoralone
LoadRejection
GoverningSystemPerformancecanbejudged
byfullloadrejectionbehavior:Transient
SpeedRise(TSR),hunting
EmergencyGovernorshouldnotgetactivated
Influencingparameters:RotorAcceleration
Time(Ta),Droop,SpeedControllergains,
Incrementaldroop
LOADREJECTIONRESPONSE
Load
100%
Time(sec)
t
100%
0%
Speed
(%)
TSR
(6 10%)
5%Droop
3
FW
SH1
Q
DRUM
WW
BOILER
SH2
G
Q
150ata
540C
H
T
P
IP
T
COND
RH
.
.
.
Flue
Gas
Fuel
Air
DESH
InteractionwithBoilerControls
GOVERNOR
MasterPressure
Control
DrumLevel
control
Temperature
Control
Spray
Extraction
Steam
Pressure
STEAM
CONDENSER
LPCV
LOAD
SPEED
H
P
T
L
P
T
G
GOV,
SYSTEM
HPCV
TO PROCESS
EXTRACTION TURBINE CONTROL SCHEME
Stream
Generators
LP
Process
VHP HP MP
PRDS
Process Process
Process
HRSGs
UBs
G
TypicalSteamandPowerSystem
Headers
107/ 510 45/ 400 20/ 340 5.5/ 220
Kg/Cm
2 o
C
C
G
GAS TURBINE
G
Steam
Turbine
SteamandPowersystemDynamics
Steam
System
Power
System
Fuel
System
Upsets in one system can influence the other
ModellingandSimulation
Instantaneousresponse
AssumesuddenLoadReductionandinstantaneouschangein
generation
1.0
.8
Power
p.u
Load,P
L
Time(Sec.)
GenerationPg
Frequency
Time(Sec.)
50Hz
RotorInertia
Atsteadystate:
TurbineTorque(Pm)=LoadTorque((Pel)
Duringtransient:
Speed=((Pm Pel)/Ta)dt
Ta=Accelerationtimeorinertiaconstant
(functionofmomentofinertia)
Typicalvalues:Ta=9 12sec
Acceleration/Deceleration
me
P
g
Deviationareaisindicativeof
acceleration/deceleration
P
L
P
L
me
P
g
Delayduetothecumulativeeffectsof
Governor,hydraulicpassages,turbine
n or f
t
Frequency or Speed
variation
Due to the above :
GovernorResponse
SettlingSpeedhigher

Xp

Hydraulicrelaystimeconstant
Inflow(Qi) Xp
Qi=volumetric
displacementofoil
=Ap.dx
sm
/dt
K
p
Xp=Apsx
sm
Xsm
Xsm
1
T
sm
.S
Xp
b
Levergain
HPTURBINETIMECONSTSANT
T
4
=Steammassinsideturbine
MassflowthroughHPturbineKg/Sec207.4
VolumexDensity
=0.844(m3)(1/0.02337) =36.114
T
4
=36.114/207.4=0.17Sec.
V
HP
includes: Volumeininletportionupto1
st
stage.
allpipingconnections
blading
IPTurbine:0.27Sec
LPTurbine:0.47Sec
T
Reheaterr
:10to20Sec.
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