MODELING AND SIMULATION OF HYDRO

POWER PLANT
 CANDIDATE’S DECLARATION

I hereby declare that the work which is being presented in this dissertation report
entitled “MODELING AND SIMULATION OF HYDRO POWER PLANT”
submitted in partial fulfillment of the requirements for the award of the degree of
Master of Technology in Alternate Hydro Energy Systems, submitted in Alternate
Hydro Energy Centre, Indian Institute of Technology Roorkee is an authentic record
of my own work carried out during July 2014 to May 2018 under the supervision of Dr.
…………, Asst. Professor, EC KIET.
I have not submitted the matter embodied in this report for the award of any
other degree or diploma.

Date: May 06, 2018

Place: Ghaziabad (name)
 CERTIFICATE

This is to certify that the above statement made by the candidate is correct to the best of
my knowledge.

(Dr.)
Assistant Professor
EC
KIET

i
 ACKNOWLEDGEMENT

I would sincerely acknowledge the efforts and guidance of my guide Dr.

, Asst. Professor, EC KIET has spent with me. Without him, the
completion of this
dissertation is not possible.
I also express my deep and sincere gratitude to Dr. NEERAJ GUPTA, Head,
EC KIET for his motivation during the work of my dissertation.
I am also grateful to faculty members and staff of EC KIET who has helped me
directly or indirectly for the completion of my dissertation.
I extend my thanks to all my friends for their help and encouragement at the time
of needs. Finally, I would like to acknowledge my heartiest thanks to all my family
members for their moral support during the course of my work.

Date: May 06, 2018 (name)

ii
 ABSTRACT

Modeling and simulation of the hydropower plants is necessary to study the

dynamic behaviors and dynamic response of the hydraulic systems, the governor and
electrical systems associated with the plants. It also helps in studying the stability of the
system and the coordination of governor parameters with those of the hydraulic and
electrical systems for optimal performance of the plant.

This dissertation presents the modeling and simulation of large hydropower plant
under different operating conditions. The considered large hydropower plant consists of
a hydro turbine with PID governor and synchronous generator with DC1A excitation
system and is connected to the grid. The large hydropower plant simulation model is
developed under MATLAB/Simulink environment. The Matlab/Simulink model of a
large hydropower plant is also transformed to RT-LAB environment for the real-time
(OPAL-RT) simulation.

With the help of this developed simulation model of large hydropower plant, the
study of dynamic behavior of large hydropower plant have been analyzed when
subjected to disturbances like load addition, load removal, and three phase short circuit
fault conditions at the terminal of synchronous generator of plant. The hydraulic
transient analysis of hydropower plant at different parameters of PID governor gain
(Proportional gain, Integral gain and Derivative gain) is also carried out. Finally, the
comparison of results of the real-time simulation in RT-LAB and offline simulation in
Matlab/Simulink are presented and discussed.

iii
 TABLE OF CONTENTS

TITLE Page No.

CANDIDATE’S DECLARATION i

ACKNOWLEDGEMENT ii

ABSTRACT iii

TABLE OF CONTENTS iv

LIST OF FIGURES vii

NOMENCLATURE x

CHAPTER 1 : INTRODUCTION 1

1.1 General 1

1.2 Classification of Hydropower Plant 1

1.2.1 Classification Based on Head 1

1.2.2 Classification Based on Capacity Rating 2

1.2.3 Classification Based on Nature of Load 2

1.2.3.1 Base-Load Plants 2

1.2.3.2 Peak-Load Plants 2

1.3 Types of Hydropower Plant 2

1.3.1 Run-of-River 2

1.3.2 Canal Based Hydropower Plant 3

1.3.3 Reservoir Based Hydropower Plant 3

1.3.4 Pumped Storage Hydropower Plant 4

1.4 Modeling and Simulation 5

1.4.1 Need for Simulation 5

1.4.2 Classification of Simulation 5

1.4.2.1 Static Simulation and Dynamic Simulation 5

1.4.2.2 Discrete-Event Simulation and Continuous Simulation 5

iv
 1.4.2.3 Deterministic and Stochastic Simulations 6

1.5 Advantages of Simulation 6

1.6 Limitation of Simulation 6

1.7 Objectives of the Study/Work 7

1.8 Organization of the Report 7

CHAPTER 2 : LITERATURE REVIEW 8

2.1 Literature Review 8

2.2 Gaps Identified 14

CHAPTER 3 : MATHEMATICAL MODELING OF VARIOUS COMPONENTS

OF HYDROPOWER PLANT 15

3.1 Modeling of Hydraulic System 15

3.1.1 Reservoir Model 15

3.1.2 Surge Tank Model 16

3.2 Hydraulic Turbine Model 17

3.3 Governor Model 19

3.4 Synchronous Generator Model 20

3.5 Excitation System Model 21

3.6 Three Phase Transmission Line Model 23

CHAPTER 4 : SIMULATIONS AND RESULTS 25

4.1 Matlab/Simulink Models for Different Components of Hydropower Plant 25

4.1.1 Hydro Turbine Model 25

4.1.2 PID Governor Model 25

4.1.3 Excitation System Model 26

4.1.4 Complete Hydropower Plant Model 26

4.2 Data Used for Simulation 27

4.3 Simulation Results in MATLAB/Simulink Environment and Discussion 28

4.3.1 Case -I: Load Addition 28

4.3.2 Case -II: Load Reduction 33

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 4.3.3 Case -III: Short Circuit Fault 38

4.4 Hydraulic Transient Analysis of Hydropower Plant for Different Values of PID
Governor Gain 43

4.4.1 Transient Analysis of Hydropower Plant at Different Value of

Proportional Gain (Kp) 43

4.4.2 Transient Analysis of Hydropower Plant at Different Value of Integral

Gain (Ki) 44

4.4.3 Transient Analysis of Hydropower Plant at Different Value of Derivative

Gain (Kd) 46

4.5 RT-LAB Models for Hydropower Plant 48

4.5.1 Separated RT-LAB Model 48

4.5.2 Console Subsystem 48

4.5.3 Master Subsystem 49

4.6 Simulation Results in RT-LAB Environment and Discussion 50

4.6.1 Case -I: Load Addition 50

4.6.2 Case -II: Load Reduction 52

4.6.3 Case -III: Short Circuit Fault 54

CHAPTER 5 : CONCLUSIONS AND FUTURE SCOPE OF WORKS 56

5.1 Conclusions 56

5.2 Future Scope of Works 56

REFERENCES 58

vi
 LIST OF FIGURES

Fig. No. Title Page No.

Fig. 1.1: Typical Arrangement of Run-of-River Hydropower Station 3

Fig. 1.2: Canal Based Hydropower Station 3
Fig. 1.3: Reservoir Based Hydropower Plant 4
Fig. 1.4: Pumped Storage Hydropower Plant 4
Fig. 3.1: Reservoir Model 15
Fig. 3.2: (a) Surge tank model (b) Electrical equivalent circuit model 16
Fig. 3.3: Relation between ideal gate opening and real gate opening 18
Fig. 3.4: Nonlinear Hydro Turbine Model 19
Fig. 3.5: PID Governor model 19
Fig. 3.6: Synchronous Machine Model (a) q-axis equivalent model (b) d-axis equivalent
Model 21
Fig. 3.7: Type DC Excitation System Model 22
Fig. 3.8: Nominal-T Model of Transmission line 23
Fig. 3.9: Nominal-π Model of Transmission Line 23
Fig. 4.1: MATLAB/Simulink model for subsystem of nonlinear hydro turbine 25
Fig. 4.2: MATLAB/Simulink model for subsystem of PID governor 25
Fig. 4.3: MATLAB/Simulink model for subsystem of type IEEE DC1A excitation
system 26
Fig. 4.4: Matlab/Simulink model of hydropower plant 26
Fig. 4.5: MATLAB/Simulink model of hydro power plant for load addition 28
Fig. 4.6: Single line diagram for load addition at SG terminal 29
Fig. 4.7: Generator voltage Vs time, Case-I 29
Fig. 4.8: Generator current Vs time, Case-I 29
Fig. 4.9: Load current Vs time, Case-I 30
Fig. 4.10: Electrical power Vs time, Case-I 30
Fig. 4.11: Rotor speed Vs time, Case-I 30
Fig. 4.12: Excitation voltage Vs time, Case-I 30
Fig. 4.13: Generator load angle (degree) Vs time, Case-I 31
Fig. 4.14: Mechanical power Vs time, Cae-I 31
Fig. 4.15: Grid voltage Vs time, Case-I 31
Fig. 4.16: Grid current Vs time, Case-I 31

vii
Fig. 4.17: Gate opening Vs time, Case-I 32
Fig. 4.18: MATLAB/Simulink model of hydro power plant for load reduction 33
Fig. 4.19: Single line diagram for load reduction at SG terminal 33
Fig. 4.20: Generator voltage Vs time, Cae-II 34
Fig. 4.21: Generator current Vs time, Case-II 34
Fig. 4.22: Load current Vs time, Case-II 34
Fig. 4.23: Electrical power Vs time, Case-II 35
Fig. 4.24: Rotor speed Vs time, Case-II 35
Fig. 4.25: Excitation voltage Vs time, Case-II 35
Fig. 4.26: Generator load angle (degree) Vs time, Case-II 35
Fig. 4.27: Mechanical power Vs time, Case-II 36
Fig. 4.28: Grid voltage Vs time, Case-II 36
Fig. 4.29: Grid current Vs time, Case-II 36
Fig. 4.30: Gate opening Vs time, Case-II 36
Fig. 4.31: MATLAB/Simulink model of hydropower plant for short circuit fault 38
Fig. 4.32: Single line diagram for three phase short circuit fault at SG terminal 38
Fig. 4.33: Generator voltage Vs time, Case-III 39
Fig. 4.34: Generator current Vs time, Case-III 39
Fig. 4.35: Load current Vs time, Case-III 39
Fig. 4.36: Electrical power Vs time, Case-III 40
Fig. 4.37: Rotor speed Vs time, Case-III 40
Fig. 4.38: Excitation voltage Vs time, Case-III 40
Fig. 4.39: Generator load angle (degree) Vs time, Case-III 40
Fig. 4.40: Mechanical power Vs time, Case-III 41
Fig. 4.41: Grid voltage Vs time, Case-III 41
Fig. 4.42: Grid current Vs time, Case-III 41
Fig. 4.43: Gate opening Vs time, Case-III 41
Fig. 4.44: Electrical power Vs time at constant Ki & Kd 43
Fig. 4.45: Mechanical power Vs time at constant Ki & Kd 43
Fig. 4.46: Rotor speed Vs time at constant Ki & Kd 44
Fig. 4.47: Gate opening Vs time at constant Ki & Kd 44
Fig. 4.48: Electrical power Vs time at constant Kp & Kd 45
Fig. 4.49: Mechanical power Vs time at constant Kp & Kd 45
Fig. 4.50: Rotor speed Vs time at constant Kp & Kd 45
Fig. 4.51: Gate opening Vs time at constant Kp & Kd 46
viii
Fig. 4.52: Electrical power Vs time at constant Kp & Ki 46
Fig. 4.53: Mechanical power Vs time at constant Kp & Ki 47
Fig. 4.54: Rotor speed Vs time at constant Kp & Ki 47
Fig. 4.55: Gate opening Vs time at constant Kp & Ki 47
Fig. 4.56: Separated RT-LAB model 48
Fig. 4.57: Console subsystem 49
Fig. 4.58: Master subsystem 49
Fig. 4.59: Electrical power Vs time, Case-I 50
Fig. 4.60: Rotor speed Vs time, Case-I 50
Fig. 4.61: Excitation voltage Vs time, Case-I 50
Fig. 4.62: Generator load angle (degree) Vs time, Case-I 51
Fig. 4.63: Mechanical power Vs time, Case-I 51
Fig. 4.64: Gate opening Vs time, Case-I 51
Fig. 4.65: Electrical power Vs time, Case-II 52
Fig. 4.66: Rotor speed Vs time, Case-II 52
Fig. 4.67: Excitation voltage Vs time, Case-II 52
Fig. 4.68: Generator load angle (degree) Vs time, Case-II 53
Fig. 4.69: Mechanical power Vs time, Case-II 53
Fig. 4.70: Gate opening Vs time, Case-II 53
Fig. 4.71: Electrical power Vs time, Case-III 54
Fig. 4.72: Rotor speed Vs time, Case-III 54
Fig. 4.73: Excitation voltage Vs time, Case-III 54
Fig. 4.74: Generator load angle (degree) Vs time, Case-III 55
Fig. 4.75: Mechanical power Vs time, Case-III 55
Fig. 4.76: Gate opening Vs time, Case-III 55

ix
 NOMENCLATURE

The nomenclatures used in this report are listed below:

General:
P Power generated kW
3
Q Discharge m /s
H Head m
2
g Gravitational constant m/s
η Overall efficiency of the plant -
RT-Lab Real-Time Laboratory -

For Hydraulic System and Hydraulic Turbine:

3
Qin Inflow to reservoir m /s
3
Qout Outflow to reservoir m /s
3
S(t) Volume of water in reservoir m
t Time duration s
G Ideal gate opening m
H Hydraulic head at gate m
HO Initial steady state value of H m
L Length of water column m
TW Water starting time s
PNL No load power kW
UNL No load water velocity m/s
U Water velocity m/s
VAbase Volt ampere rating of generator VA
ωo Rated angular speed rad/s
ω Angular speed rad/s

Pr Normalized rating of turbine power -

KU Constant of proportionality -
KP Constant of proportionality -
Pm Power output from turbine kW
Tm Mechanical torque Nm
G Ideal gate opening m
g Real gate opening m

x
 At Turbine gain -

g
FL Full load gate opening m
g
NL No load gate opening m

For Governor Model:

Rp Permanent speed droop per unit
Kd Derivative gain -
Kp Proportional gain -
Ki Integral gain -
s Laplace operator -

For Synchronous Generator:

V Voltage V
i Current A
φ Flux linkage Weber-turn
ωR Rated angular frequency rad/s
R Resistance Ω
L Inductance H
Derivative -

Subscripts:
d, q: d and q axis quantity
R, s: Rotor and stator quantity
l, m: Leakage and magnetizing inductance
f, k: Field and damper winding quantity

For Excitation System:

Vref Reference voltage V
Vter Generator terminal voltage V
Tt Voltage time constant s
Tc & Tb Transient gain reduction time constant s
Ka Amplifier gain constant -
Ta Amplifier time constant s
Ke Exciter gain constant -
Te Exciter time constant s
xi
 A& B Saturation constant -
Kf Stabilizing circuit gain constant -
Tf Stabilizing circuit time constant s
Vmax Maximum amplifier output V
Vmin Minimum amplifier output V
Efd Exciter output voltage V

For Transmission Line:

Vs Sending end voltage per phase V
Is Sending end current A
Vr Receiving end voltage per phase V
Ir Receiving end current A
Z Impedance of transmission line Ω
Y Admittance of transmission line ʊ

xii
 CHAPTER 1
INTRODUCTION

1.1 General
Hydropower is a renewable energy source, which converts the energy of
flowing water from the higher elevation to lower elevation into electricity.
Hydropower is a proven, mature, predictable, cost competitive and highest efficient
convertible renewable energy source. Hydropower plays an important role in the
management of water resources by preventing flooding in downstream, solving
irrigation problems, creating recreational areas and making the river navigable.
Hydropower provides the alternate sources of energy thereby conserving the fossil
fuels which reduces the environmental impact produced by the use of fossil fuels. The
total installed global hydropower capacity is 1,036 GW [1]. The power generated by a
hydropower plant depends on the volume of water flowing and the net head available
at the site. The power generated from hydropower is given by the following equation:
P    g Q  H (1.1)
Where,
P = Power generated in kW
η = Overall efficiency of the plant

2
g = Acceleration due to gravity in m/s
3
Q = Discharge in m /s
H = Head in metre

1.2 Classification of Hydropower Plant

Broadly hydropower plant is classified as follows:

1.2.1 Classification Based on Head

The classification of hydropower plant on the basis of net head available at the
site
 Ultra Low Head - Below 3 metres
 Low Head - Less than 30 Metres
 Medium Head - 30 to 300 Metres
 High Head - Above 300 Metres

1
1.2.2 Classification Based on Capacity Rating
The classification of hydropower plant on the basis of plant capacity rating [2]
 Up to 5 kW - Pico Hydropower Plant
 5 kW to 100 kW - Micro Hydropower Plant
 100 kW to 2000 kW - Mini Hydropower Plant
 2 MW to 25 MW - Small Hydropower Plant
 25 MW to 100 MW - Medium Hydropower Plant
 100 MW & above - Large Hydropower Plant

1.2.3 Classification Based on Nature of Load

The classification of hydropower plant on the basis of nature of load [2]

1.2.3.1 Base-Load Plants

This type of hydropower plants is used for base portion of the load duration
curve. These are generally of large capacity and therefore, the load factor of the plant
is high. Run-off river scheme is an example of base-load hydropower plant.

1.2.3.2 Peak-Load Plants

Hydropower plants used to supply the peak portion of the load duration curve are
known as peak load plant. Reservoir hydropower plants and pumped-storage
hydropower plants are example of peak-load plants.

1.3 Types of Hydropower Plant

Hydropower plant is broadly categorized into four types as follows:

1.3.1 Run-of-River
In a Run-of-River (ROR) hydropower plant, water is diverted towards
powerhouse by a channel or pipeline (penstock) to convey water to a hydraulic
turbine which is connected to a generator. This type of plant does not store the water.
It uses the water as it comes directly from the river. Therefore, the plant’s output
depends on the seasonal variations and weather conditions. Generally, this type of
power plants is preferred for high head and low discharge schemes. The typical
arrangement of run-of-river hydropower station is shown in Fig. 1.1.

2
 Fig. 1.1: Typical Arrangement of Run-of-River Hydropower Station [3]

1.3.2 Canal Based Hydropower Plant

This type of power plant uses falls in the canal to generate power. It is planned
in canal itself or in the bye pass channel. Generally this type of hydropower plant is of
low head and high discharge schemes. It has advantages of low gestation periods, no
submergence and rehabilitation problem, simple layouts and practically very minimal
environmental problems. The typical canal based hydropower plant is shown in
Fig.1.2.

Fig. 1.2: Canal Based Hydropower Station [3]

1.3.3 Reservoir Based Hydropower Plant

In this type of hydropower plant, the dam is constructed to store the water
which will be available to the plant with control as required. The head required for
power generation is created by raising the water level in the dam by storing the
natural flow of water. The generating unit is situated at the dam toe or further
3
downstream of the river which is connected to the reservoir by penstocks or tunnels.
This type of plants can be used either for base load or peak load and can also be used
on any portion of load curve as required. The reservoir reduces the dependence on the
variability of inflow. The typical reservoir based hydropower plant is shown in Fig.
1.3.

Fig. 1.3: Reservoir Based Hydropower Plant [4]

1.3.4 Pumped Storage Hydropower Plant

In this type of power plant, water is cycled between a lower and upper
reservoir with the help of pumps during low demand of electricity, while during high
demand of electricity, the water is released to lower reservoir through the turbines to
generate electricity. A pumped storage plant is not an energy sources but it is a storage
device. The Fig. 1.4 shows the typical arrangement of pumped storage hydropower
plant.

Fig. 1.4: Pumped Storage Hydropower Plant [5]

4
1.4 Modeling and Simulation
Simulation is the process to evaluate the model numerically and data are
gathered for estimating the desired true characteristics of the model by using
computers. It can also be defined as replication of some actual things, system's state,
or process. Generally simulating something represents definite characteristics or
chosen physical behavior or abstract system. Simulation is construction and use of the
representative models, some part of the real world as substitute vehicle for experiment
and the prediction. Traditionally, mathematical modeling is used to represent the
systems. This mathematical model is used to find analytical solutions which allow the
prediction of system behaviors from a set of given parameters and initial conditions.
Computer simulation is used as a substitution for modeling systems for which
analytical solutions are not possible [6].

1.4.1 Need for Simulation

The collection of both hardware and software system is called a simulator. It
copies the behavior of some entity or occurrence in the system. Normally, the
phenomenon being simulated is ranging from simple integrated circuits to the
complex systems such as the behavior of an aircraft during wind shear. A simulator is
also used for verifying and analyzing the theoretical models which are difficult to
understand from a purely conceptual level. Such phenomenon ranges from the
assessment of black holes to the study of highly complicated models of computation.
Therefore, simulators provide a key role both in industry and academia [6].

1.4.2 Classification of Simulation

Simulation is basically classified into following groups:

1.4.2.1 Static Simulation and Dynamic Simulation

A static simulation model does not follow the changes over the time. It is
applicable only for steady state analysis, while the dynamic simulation model follows
the changes over time resulting due to system activities. This type of model is
applicable for dynamic analysis.

1.4.2.2 Discrete-Event Simulation and Continuous Simulation

Discrete-event simulation is the dynamic simulation where the state variables
change only a countable number of points in time. It may be time-stepped or event-
stepped while in continuous simulation the state variables changes always with the
time. It is characterized by differential equations that describe the system and gives
relationships for rates of change of state variables with time [7].
5
 1.4.2.3 Deterministic and Stochastic Simulations
Deterministic simulation model is a model that does not contain random
components. Whereas, stochastic simulation model is a model that contains at least
some random input components [7].

1.5 Advantages of Simulation

The advantages of performing simulation rather than actually building the
models and testing are as follows:
i. It provides the user with practical feedback while designing with most
complex and real world systems. This allows the designer to determine
correctness and efficiency of the systems before it is actually constructed.
ii. The users may explore the merit of an alternative design of system without
actually building the physical model of the system.
iii. Simulation allows us to study a system with a long time frame.
iv. We can maintain much better control over experimental conditions in a
simulation than would be generally possible when experimenting with the
system itself.
v. Simulation testing is faster and cheaper than performing the multiple tests of a
design at each time.

1.6 Limitation of Simulation

The limitations of simulation are as follows:
i. The biggest disadvantage for performing simulation is the simulation error.
Any incorrect or invalid representation of a system under study has the
potential to alter the simulation results and gives the wrong results.
ii. Simulators are restricted by limited hardware platforms which cannot meet
computational demands of the simulator. However, this is becoming less
concern due to improved simulation techniques and the availability of more
powerful platforms now a day.
iii. Generally, simulation models are not good for optimization since it compare a
fixed number of specified alternative system designs.
iv. The delays in the simulation are due to a very large number of entities being
simulated or due to the complex interactions that occur between entities within
the system being simulated.

6
 1.7 Objectives of the Study/Work
The following are the objectives of the present study/work carried out in this
dissertation:
i. To developed the hydropower plant model in Matlab/Simulink Environment.
ii. To simulate and analyze the operation of the hydropower plant at various
operating conditions like addition of load, removal of load and fault
conditions.
iii. To simulate and analyze the operation of the hydropower plant at various
operating conditions in real-time under OPAL RT-LAB environment.

1.8 Organization of the Report

This dissertation report is divided into five chapters as explained below:
Chapter 1 presents the introduction of hydropower plant, different schemes of
hydropower development, an introduction to modeling and simulation, advantages
and limitations of the simulation.
Chapter 2 presents on the literature review on modeling and simulation of
hydropower plant of recent achievements and current research activities including the
modeling of hydro turbines, governor, hydraulic systems, and the synchronous
generators.
Chapter 3 discuss on the mathematical modeling of various components of
hydropower plant such as hydraulic system modeling, hydraulic turbine modeling,
governor modeling, synchronous generator modeling, excitation system modeling,
transmission line modeling, and grid modeling.
Chapter 4 presents on the results and discussion of simulation of the large
hydropower plant carried out in MATLAB/Simulink environment and the OPAL RT-
LAB environment at various operating conditions.
Chapter 5 includes conclusions and future scope of the work.

7
 CHAPTER 2
LITERATURE REVIEW

This chapter presents the literature review on the modeling and simulation of
the hydropower plants and gaps identified.

2.1 Literature Review

Li et al. [8] developed a model of the hydraulic turbine and governor to
represent the generation of hydropower. Real-time and offline simulations were
carried out on single-machine infinite-bus to validate the model's performance.
Moreover, the proper transfer of Matlab/Simulink model to real-time simulation
environment was also performed.

Fang et al. [9] demonstrated the simulation of hydropower plant having high
head and long penstock with two surge tanks placed in upstream and downstream.
The simulation model of the hydropower plant with Francis turbine was developed in
Matlab/Simulink environment. For simulation and calculation of hydraulic transients,
the hydraulic turbine's nonlinear characteristics and inelastic water hammer effect
were considered. The simulation results of hydropower plant model carried out in
Matlab/Simulink was compared with the simulation result of an actual hydropower
plant which was performed at full load rejection.

Wangdi & Richards [10] investigated the effect of Chukha governor

parameters on the speed and load changes for small disturbances in the power
network. The developed model were simulated for the speed and load changes of the
power plants for an applied small step change of load anywhere in the power network
by using simulation software, Tutsim. A load flow study were conducted and
determined the synchronizing power coefficients through developed computer
programs for the purpose.

Hannett et al. [11] described a dynamic simulation model of the pumped storage
hydropower plant to be interconnected to the power grid. The Simulation model was
developed to represents the plant on an electrical network for studies of electrical
disturbances to the power grid as well as evaluating the response of the plant

8
itself. The governor models and pump model was developed to analyze the
characteristics of plant operations.

Jaeger et al. [12] presented a nonlinear hydraulic turbine model for dynamic
studies of hydropower plants and investigated the modeling of a power plant
consisting of several turbines supplied from a common tunnel, taking into account of
hydraulic coupling effects. The proposed model was simulated for large transients as
load rejections and their effect, due to coupling in the common conduit.

Kumar [13] presented a simulation of Pacha small hydropower plant (SHP)

under different operating conditions using ALICES software. The individual
component of SHP plant like weir, channel, penstock, Francis turbine, governor,
synchronous generator and excitation system were considered for the simulation. The
mathematical modeling of various components of SHP plant was also presented. The
hydraulic differential models, electrical differential, and mechanical models were
developed and presented for SHP plant under ALICES software environment.

Koli [14] developed the simulation model of a small hydropower plant in

Matlab/Simulink environment and studied its behavior under various operating
conditions. The various components of hydropower plants like penstocks, valve, surge
tanks, Francis turbine, synchronous generator, and excitation system for the generator
were considered for the simulation. The modeling of the individual component of the
small hydropower plant was presented and developed the blocks representing a model
for different components in Matlab/Simulink software. The individual blocks were
assembled to study the behavior of SHP plant under different operating conditions.

Jadid & Salami [15] investigated the problem of load pickup in the power
system after the occurrence of faults for the restorations of the system to a normal
state which was caused by deviation of frequency response from allowable limits. For
the investigation, the study was carried out on hydropower plant. Based on the study
carried out, an accurate model of the plant was proposed and simulation was
performed on proposed model of the plant. A linearized model of a hydraulic turbine
was used in proposed model of the plant for simulation.

9
 Hannett et al. [16] proposed hydropower plant model having multiple units
sharing a common conduit. The simulation model having multiple units with a
different size of units was derived. The simulation of the model was carried out to
determine the plant response and to find the physical parameter's relation. The setting
of governor parameter and hydraulic coupling effect relation were also discussed. The
stability effects of a plant by the parameter setting at islanded condition were
demonstrated by simulation.

Vournas [17] investigated the stability of the electromechanical oscillation

modes in a multi-machine power system using three different models for the hydraulic
turbines of the system. An iterative estimation method for obtaining the second order
approximation for predicting the oscillation damping which had significant
improvement in oscillation damping was developed.

Robert & Michaud [18] gave a model of the hydroelectric power plant which
was connected to a power grid for designing the power controller. The slow and fast
dynamics models of hydraulic plants considering the elasticity of penstock and effect
of surge tank were developed. Reduced order models for a multi-machine power
system were proposed and its validity was verified by making comparison of
simulation result performed in Matlab/Simulink and measurements carried out on a
252 MVA hydro unit.

Souza et al. [19] presented the analyses of a discrete hydraulic system to carry
out the study of hydraulic parameters. In this work, an analog mathematical model of
the hydraulic turbine was used for developing simulation model. The results were
obtained by using nonlinear analog-digital simulation method. The theoretical results
obtained by using characteristics method done in literature example was compared
with analog mathematical method result.

Lindenmeyer et al. [20] presented the model of hydro and nuclear power plant's
auxiliaries in Electromagnetic Transients Program (EMTP). The models of generator,
turbine, exciter, and induction motor were derived and validations of individual
model were carried out by field measurement. A modeled hydropower plant and a
nuclear power plant’s auxiliaries using EMTP were also investigated. To verify the
power system model, the simulation results was compared with the 10
measurement carried out in Engineered Safeguards Functions (ESF) test on the
emergency power system (i.e., Oconee nuclear power plant).

Vournas & Papaioannou [21] presented the modeling of nonlinear

hydroelectric plant model with two surge tanks. The model was linearized and
simplified to carry out the stability analysis of governor. The investigation of two
surge tank's interaction was performed and the system was simulated for sudden
opening and closure of gates. In this work, frequency control loop stability was
assessed with the help of small signal analysis based on linearization.

Choo et al. [22] gave a model of the hydraulic turbine with long penstock
considering water hammer effects and friction. For transient response analysis during
load disturbances, a detailed hydraulic turbine-penstock was used to study the
governor stability. Both frequency and transient response analyses were performed to
study the effect of detailed modeling of turbine-penstock to the stability studies and
dynamic performance of the system.

Gao & Wang [23] presented the nonlinear, linearized based on prototype,
linearized based on internal characteristics, and ideal model of the hydro turbine.
These four different types of hydro turbine model's effect and applicability on power
system analysis were performed and concluded that the effect of developed models of
the hydro turbine was more on electro mechanic and hydraulic oscillation mode than
on the excitation system oscillation mode.

Naik et al. [24] presented PID governor with internal model control (IMC) for
hydropower plant considering the presence of water hammer effect. In this work, the
simulation result of the proposed IMC tuning was compared with the single frequency
and Ziegler-Nichols closed loop tuning. It was found that the simulated result of IMC
tuning technique was feasible and versatile to use in the control of hydropower plant
having water hammer effect.

Vinatoru & Iancu [25] presented the mathematical model of cascade run-off-the-
river hydropower plant which considered the dynamic and static behavior of the plant
for implementing the digital control algorithm. To perform the simulation and analysis
of control structures and algorithm, a simplified mathematical model of the 11
hydropower plant was developed. The simulated result was compared with the result
obtained by an experiment performed on the actual system.

Zhang et al. [26] proposed a mathematical nonlinear model of hydro-turbine

governor system during load rejection. The penstock was modeled by introducing
nonlinear dynamic transfer coefficients. The behavior of a governing system of the
plant was illustrated by bifurcation diagrams, time waveforms, phase orbit and
Poincare maps.

Ramey & Skooglund [27] compared the transient performance of detailed

and equivalent hydro-governor system representation. The procedures to determine
the equivalent transfer function from plant data for large scale system stability studies
were suggested.

Nicolet et al. [28] developed SIMSEN, a numerical software package used for
simulation of electrical power systems and hydraulic components. The developed
software was useful for the stability analysis of hydroelectric power plant and could
be used for global design optimization. In this work, the hydraulic components of
hydropower plant were represented by an equivalent electrical circuit.

Scherer & Camargo [29] discussed modeling and control of micro-hydro

power stations by using nonlinear hydro turbine model applied on induction
generators (IG) for micro-grid systems. The constant speed and voltage for the model
were obtained by a speed governor and reactive power control using voltage source
inverter (VSI) respectively.

Konar et al. [30] discussed modeling and simulation of hybrid power

generation for isolated operation in hilly areas. The model for Micro-hydro and diesel
generator in Matlab/Simulink environment were developed separately and then
connected in parallel to form a standalone hybrid power generation system. The
performance of system stability study was carried out by changing the loads and
introducing three phase short circuit at load terminal.

Hong-qing & Zu-yi [31] developed the model of a regulating system of

hydraulic turbine considering nonlinear characteristic and non-elastic water hammer
12
effect in Matlab/Simulink. The simulation test for no load and isolated operation were
performed for studying the hydraulic transients in a hydraulic turbine.

Cozorici et al. [32] carried out designing of wind-hydropower plant model for
the use in research work and demonstration to the students about the power generation
from wind and small hydropower plant. Simulation of designed wind-hydropower
plant model was also performed.

Chen et al. [33] developed nonlinear real-time simulation system for testing
hydroelectric generating unit's speed governing system. In this work, a nonlinear
feature of a hydro turbine was simulated by using the neural network which achieved
higher accuracy of the simulation.

Kawkabani et al. [34] presented a model of the hydroelectric power plant to

perform simulation and dynamic analysis of the plant. The set of turbine governor
parameters was determined by a specific identification procedure for stable operation.
The stability analysis of hydroelectric power plant was investigated through time
domain simulations for different sets of controllers' parameters.

Kishor et al. [35] presented the review of research work carried out in the
field of hydropower plant model development and control system used in a model for
studying the performance of hydropower plant. In this work, the research gaps on
modeling of the hydropower plant and its control were identified for further research
work to be carried out in the field of modeling and simulation of the hydropower
plant.

Rahi & Kumar [36] presented the studies on different types of excitation
system used for generator excitation in a small hydro power plant (SHP) to design the
excitation system at different operating conditions. In this work, three types of
excitation system were simulated and found out that the static excitation system has
faster response time than DC and AC excitation system.

Arun.s [37] presented the simulation studies of Bhikuriagad and Zhagdong rong mini-
hydropower plant having a capacity of 500 kW and 100 kW respectively. The
mathematical models of various components of mini-hydropower plant were 13
 considered for simulation. The behaviors of mini-hydropower plant at different
operating condition were studied by simulating the developed model in ALICES
simulation environment.

2.2 Gaps Identified

Following are the gaps identified on modeling and simulation of hydropower
plant as per the literature review:
i. The model developed on simulation of the hydropower plant is based on
linearized and first-order model of the plant. Model based on nonlinear hydro
turbine required for the study of large signal transient stability is needed to be
addressed.
ii. The compressibility effect of the water column is not considered for the
majority of control designs which is experienced in long penstock layout of
the plant.
iii. Most of the model developed uses DC excitation systems. Therefore, other
excitation systems like AC and static system, which has a higher response time
is needed to be addressed.

14
 CHAPTER 3
MATHEMATICAL MODELING OF VARIOUS COMPONENTS
OF HYDROPOWER PLANT

The detail mathematical modeling of various components of hydropower plant

is presented in this chapter.

3.1 Modeling of Hydraulic System

The modeling of hydraulic components which constitute a hydropower plant is
described below.

3.1.1 Reservoir Model

Reservoir is used for storing the water for the purpose of generating electricity.
Reservoir is created by constructing a dam in the river valleys. Reservoir is modeled
based on its filling time. The mathematical modeling of reservoir is given by
equations (3.1) to (3.3). The reservoir model is shown in Fig. 3.1 below.

Fig. 3.1: Reservoir Model

Volume of water in reservoir at the time “t+Δt” is given by
St t   St  Qin t  Qoutt (3.1)
St t  St   Q  Q (3.2)
in out
t
Since t is very small, we can write equation (3.2) as
dSt   dS  Q  Q (3.3)
in out
dt dt
Where,
3
Qin = Inflow to reservoir in m /s
3
Qout = Outflow to reservoir in m /s
3
S(t) = Volume of water in reservoir in m
t = Time duration in seconds
15
3.1.2 Surge Tank Model
The losses at inlet, a level variation and inertia described surge tank model.
According to hydraulic laws [38], surge tank can be represented by equations (3.4) -
(3.6).

H pc  H c  K pc Qc Qc
(3.4)
2
2gAco
dH c
Ac z dt  Qc
(3.5)

Lpc
Lc  (3.6)
gA
co

Where the parameters are defined as below:

Rc


K
 Q
pc c

2gAco 2
Cc  Ac z
The three components Rc, Lc, Cc are connected in series since equations (3.4),
(3.5) and (3.6) are related to incoming discharge Q c in the surge tank [38] as shown in
Fig. 3.2.

(a) (b)
Fig. 3.2: (a) Surge tank model (b) Electrical equivalent circuit model [38]
16
 3.2 Hydraulic Turbine Model
The nonlinear hydraulic turbine model and penstock is given by equations
(3.7) - (3.22) considering non-elastic water column and incompressible water. Basic
hydro dynamic equations considering simple hydraulic systems with unrestricted head
and tail race, with a very large or without surge tank, assuming rigid conduit and
incompressible fluid [39] are as given in following equations.

Water velocity: U  KU G H (3.7)

Power input to turbine: P  K P HU (3.8)

Acceleration of water column: dU  g H  H 0  (3.9)

dt L
Normalizing the equations (3.7), (3.8) and (3.9) using the rated values of
velocity (Ur), ideal gate opening (Gr), hydraulic head at gate (Hr) and power (Pr), the
following equations in per unit notation are obtained.
 U 2
H   (3.10)
 

G
P  HU (3.11)

dU  gH r H 0  H  (3.12)
dt LU r
dU  1  H 0  H  (3.13)
dt T
W

Where TW is the water starting time at rated load and it has a fixed value for a given
turbine-penstock unit and is given by
LU
T
W

gH  r (3.14)
r

Taking Laplace transform of (3.13)

1
SU  H 0  H 
T
W

UH0 H (3.15)
STW
Power output from turbine: Pm  P  PNL

Pm  K P U U NL H (3.16)

17
Normalizing the output power of turbine:

P m  U  U NL H  (3.17)

Torque: T  Pm (3.18)
m

VA
base
Rated torque: Tr   (3.19)
rated

Tm  Pm  O
T VA 
r base

Pm
Tm  P r 1
T VA
r base 

T m  Pm Pr  U  U NL H P r
(3.20)

 
Fig.3.3 shows the relation between real gate opening and ideal gate opening.
The relationship between real gate opening and ideal gate opening is given by
equation (3.21).

Fig. 3.3: Relation between ideal gate opening and real gate opening [39]

G  At g (3.21)
1
At  (3.22)
g
FL  g NL

18
 By combining equations (3.7) - (3.22), the nonlinear hydro-turbine model is
obtained as shown in Fig.3.4.

Fig. 3.4: Nonlinear Hydro Turbine Model [39]

3.3 Governor Model

The speed or load is controlled by the governor. It involves speed error as
feedback signal to control the position of gate. The droop characteristic is provided in
speed governor having multiple units for ensuring satisfactory and stable parallel
operation. And droop is also provided for maintaining equitable load sharing among
the generating units.
The proportional-integral-derivative action is provided for electro hydraulic
governors which allow possibility of higher speed response by reduction and increase
of transient gain. For isolated operation of plants having large water starting time, the
use of derivative action is beneficial [40]. The Proportional, Integral and Derivative
governor model is shown in Fig. 3.5

Fig. 3.5: PID Governor model [41]

19
3.4 Synchronous Generator Model
The model of synchronous machine is used to consider the electrical and
mechanical characteristics of machine and it consider the winding dynamics of stator,
field and damper. Rotor reference frame (dq frame) is used to represent the equivalent
circuit of synchronous machine model as shown in Fig. 3.6. The electrical quantities
and rotor parameters are viewed from stator side which is identified by primed
variables. In synchronous machine model, it assumes currents flowing into the stator
windings while the currents flowing out from the machine is a measured stator
currents returned by Synchronous Machine (Ia, Ib, Ic, Id, Iq) [42].
The electrical model of synchronous machine is given by following equations:
V R id
(3.23)
d s d dt d R q

(3.24)

d (3.25)
V fd'  R'fd i 'fd  dt  'fd

d (3.26)
Vkd'  Rkd' ikd'  dt kd'

d (3.27)
Vkq'1  Rkq'1ikq'1  dt kq'1

d
Vkq' 2  Rkq' 2ikq' 2  dt kq' 2 (3.28)

 Ld id  Lmd i 'fd  ikd' 


d (3.29)

 (3.30)
q  Lq iq  Lmq ikq'

 L' fd i'fd  Lmd id  ikd' 

 '
fd (3.31)

 L'kd ikd'  Lmd id  i'fd 

 '
kd (3.32)

 '
 L'kq1ikq'1  Lmq iq (3.33)
kq 1

 ' (3.34)
kq 2  L'kq 2ikq' 2  Lmq iq

20
 (a) q-axis

(b) d-axis
Fig. 3.6: Synchronous Machine Model (a) q-axis equivalent model (b) d-axis
equivalent model [42]

3.5 Excitation System Model

The excitation system is used for providing direct current to field winding of
synchronous machine. It also performs a control and protection function which is vital
for satisfactory performance of the power system by controlling field voltage [43].
The IEEE type DC1A Excitation system is used in the simulation of the hydropower
plant.

21
 The DC1A exciter model represents field-controlled dc commutator exciter
with voltage regulators acting continuously. It may be self-excited or separately
excited. For the self-excited excitation system, Ka is selected so that the value of
regulator voltage VR is zero initially. The DC excitation system model block diagram
used in this study is shown in Fig. 3.7 below.

Fig. 3.7: Type DC Excitation System Model [36]

The mathematical modeling of DC excitation system which represents the

dynamic behavior of the system is given by equations (3.35) - (3.45) [36]:
V X
dX 5  ter 5
(3.35)
dt T
t

dX 9  X 8 X 9 (3.36)
dt Tf

dX 9
V3  K f (3.37)
dt
V
V1 ref X 5V3 (3.38)
V X
dX 6  1 6 (3.39)
dt T
b

 dX 6
V2 X 6  TC (3.40)
dt
dX 7  K aV2 X 7 (3.41)
dt T
a

If X 7  Vmax and X 7  Vmin


dX 7  0 and X V (3.42)
7 max
dt

22
 dX 7
If dt  0 and X 7  Vmax
dX 7
dt  0 and X 7  Vmin (3.43)

dX 7
If dt  0 and X 7  Vmin

dX 8  X 7 Ae BX 8 Ke X 8 (3.44)
dt Te
The exciter output voltage, Efd is given by:
E fd  X 8 (3.45)

3.6 Three Phase Transmission Line Model

The transmission line parameters are assumed to be lumped and the shunt
capacitance is either assumed to be concentrated at middle of the line or divided into
two half of the total capacitance and is considered to be concentrated at each end of
the line [13]. The configurations of three phase transmission line are nominal T and
nominal π as shown in Fig. 3.8 and Fig. 3.9 respectively.

Fig. 3.8: Nominal-T Model of Transmission line [44]

Fig. 3.9: Nominal-π Model of Transmission Line [44]

23
 The sending end voltage and sending end current of a transmission line can be
expressed as:
VS  AVr  BI r (3.46)

I S  CVr  DIr (3.47)

The ABCD parameters of transmission line are:

For nominal T:
YZ
A1 2
 YZ 
B  Z 1  
 4
CY
YZ
D1 2
For nominal π:
 YZ 
A 1  
 2
BZ
 YZ 
C  Y 1  
 4 
 YZ 
D 1  
 2

24
 CHAPTER 4
SIMULATIONS AND RESULTS

This chapter presents the discussion on simulation results of hydropower plant

under different operating conditions carried out in Matlab/Simulink environment and
in RT-LAB environment (OPAL RT-LAB).

4.1 Matlab/Simulink Models for Different Components of Hydropower Plant

The different components of hydropower plant discussed in chapter 3 are
modeled in MATLAB/Simulink environment as presented below.

4.1.1 Hydro Turbine Model

The hydro turbine is modeled by the following nonlinear system as shown in
Fig. 4.1.

Fig. 4.1: MATLAB/Simulink model for subsystem of nonlinear hydro turbine

4.1.2 PID Governor Model

The PID governor is used in the simulation of hydropower plant in the present
study as shown in Fig. 4.2. It involves speed error as the feedback signal to control the
gate position.

Fig. 4.2: MATLAB/Simulink model for subsystem of PID governor

25
4.1.3 Excitation System Model
The DC excitation system is used in the present study as shown in Fig. 4.3.
The standard in-built model of IEEE type DC1A excitation system in
Matlab/Simulink library is used for the simulation of the hydropower plant.

Fig. 4.3: MATLAB/Simulink model for subsystem of type IEEE DC1A excitation
system

4.1.4 Complete Hydropower Plant Model

The individual components of hydropower plant is integrated together to form
the complete hydropower plant model in Matlab/Simulink environment which is used
for the simulation and analysis at different operating conditions. Fig. 4.4 shows the
complete hydropower plant model developed in Matlab/Simulink environment.

Fig. 4.4: Matlab/Simulink model of hydropower plant

26
4.2 Data Used for Simulation
The following large hydropower plant data are used for performing the
simulation of hydropower plant at different operating conditions [45].

1. General
Net Head : 820 m
3
Design Discharge : 142.5 m /s

2. Turbine
Type : Vertical Pelton
Number :6
Capacity : 170 MW
No. of jets :5
Nozzle level : 501.5 m
3
Rated discharge : 23.52 m /s
Speed : 375 rpm

3. Generator
Type : Vertical shaft, Synchronous
machine
Number :6
Capacity : 190 MVA
Voltage : 13.8 kV

4. Transformer
Type : Single phase
Number : 18+1 (spare)
Capacity : 70 MVA
Rated voltage : 13.8 kV/400 kV

5. Transmission Line
Type : Double circuit
Rated voltage : 400 kV
Length : 140 circuit km

27
6. PID Governor Parameter
Permanent droop RP = 0.05
Integral gain Ki = 0.2
Servo-motor gain Ka = 3.33
Maximum gate opening = 0.975 pu
Proportional gain Kp = 1.0
Derivative gain Kd = 0.1
Servo-motor time Ta = 0.07 sec
Minimum gate opening = 0.01 pu

7. Excitation System Parameter

KA = 300 TA = 0.001s KE = 1.0
TE = 0 TB = 0.0 TC = 0.0
KF = 0.001 TF = 0.1s EFMIN = -11.5
EFMAX = 11.5 KP = 0.0 Vt0 = 1.0
-3
Vf0 = 1.29071 TR = 20e

4.3 Simulation Results in MATLAB/Simulink Environment and Discussion

The simulation of the dynamic behavior of large hydropower plant of Fig. 4.4
is performed for the following three cases as discussed below.

4.3.1 Case -I: Load Addition

For this case, the Matlab/Simulink model is shown in Fig. 4.5 and single line
diagram is shown in Fig. 4.6.

Fig. 4.5: MATLAB/Simulink model of hydro power plant for load addition 28
 Initially, there is 20 MW load in the plant and the disturbance is created by
adding 20 MW load to the existing 20 MW load at SG terminal at time t = 5.0 seconds
and simulation is carried out for 10.0 seconds. All the quantities are in per units unless
it is stated.

Fig. 4.6: Single line diagram for load addition at SG terminal

Fig. 4.7 shows generator voltage variation with time, Fig. 4.8 shows a
variation of generator current with time, Fig. 4.9 shows the variation of load current
with time, Fig. 4.10 shows the variation of the electrical power of the generator with
time, Fig. 4.11 shows the variation of rotor speed with time, Fig. 4.12 shows the
variation of excitation voltage with time, Fig. 4.13 shows the variation of generator
load angle with time, Fig. 4.14 shows the variation of mechanical power with time,
Fig. 4.15 shows the variation of grid voltage with time, Fig. 4.16 shows the variation
of grid current with time and Fig. 4.17 shows the variation of gate opening with time.

Fig. 4.7: Generator voltage Vs time

Fig. 4.8: Generator current Vs time

29
 Fig. 4.9: Load current Vs time

Fig. 4.10: Electrical power Vs time

Fig. 4.11: Rotor speed Vs time

Fig. 4.12: Excitation voltage Vs time

30
Fig. 4.13: Generator load angle (degree) Vs time

Fig. 4.14: Mechanical power Vs time

Fig. 4.15: Grid voltage Vs time

Fig. 4.16: Grid current Vs time

31
 Fig. 4.17: Gate opening Vs time

Initially, the generator voltage, rotor speed, and grid voltage are at 1.0 pu,
while the generator current and grid current are at 0.65 pu and 0.35 pu, respectively.
The load current at 0.1 pu, the electrical power at 0.75 pu, the excitation voltage at
1.10 pu, generator load angle at 27 degree, mechanical power at 0.754 pu, and gate
opening at 0.726 pu.

From the Fig. 4.7 and 4.15, it is observed that there is no effect on the generator
voltage and grid voltage due to the addition of load while there is slight increase in the
generator current during the addition of load at t = 5.0 seconds and it reached to initial
steady state value after 6.0 seconds as shown in Fig. 4.8. The load current is doubled to
around 0.2 pu from the initial value of 0.1 pu due to the addition of load as illustrated in
Fig. 4.9. It is observed that the electrical power is increased to 0.8 pu from the initial
value of 0.75 pu during the addition of load and it reached to initial steady state value
after 7.0 seconds as shown in Fig. 4.10 while the rotor speed is decreased at the time of
load addition but it reached to initial steady state value after 7.0 seconds as illustrated in
Fig. 4.11. There is increase in excitation voltage to around
1.3 pu at the time of load addition and it oscillates for around 3.0 seconds and reached
to initial steady state value after 8.0 seconds as shown in Fig. 4.12. There is also
increase in generator load angle to 28 degree from 27 degree at the time of addition of
load and it oscillates for around 2.0 seconds and the initial steady state value is
reached after 7.0 seconds as illustrated in Fig. 4.13. The mechanical power developed
is also increased during the addition of load at t = 5.0 seconds and it oscillates for
around 3.0 seconds and it reached to initial steady state value after 8.0 seconds as
shown in Fig. 4.14. Due to the addition of load, the grid current is decreased to 0.29
pu from 0.3 pu as illustrated in Fig. 4.16. From Fig. 4.17, it is observed that the gate
opening is decreased when load is added to the system and it oscillates for around 2.0
seconds and reached back to initial steady state after 7.0 seconds.
32
4.3.2 Case -II: Load Reduction
For this case, the Matlab/Simulink model is shown in Fig. 4.18 and single line
diagram is shown in Fig. 4.19.

Fig. 4.18: MATLAB/Simulink model of hydro power plant for load reduction
Initially, 40 MW is the total load in the plant and the disturbance is introduced
by removing 20 MW load from the total load at SG terminal at time t = 5.0 seconds
and simulation is carried out for 10.0 seconds. All the quantities are in per units unless
it is stated.

Fig. 4.19: Single line diagram for load reduction at SG terminal

33
 Fig. 4.20 shows generator voltage variation with time, Fig. 4.21 shows a
variation of generator current with time, Fig. 4.22 shows the variation of load current
with time, Fig. 4.23 shows the variation of the electrical power of the generator with
time, Fig. 4.24 shows the variation of rotor speed with time, Fig. 4.25 shows the
variation of excitation voltage with time, Fig. 4.26 shows the variation of generator
load angle with time, Fig. 4.27 shows the variation of mechanical power with time,
Fig. 4.28 shows the variation of grid voltage with time, Fig. 4.29 shows the variation
of grid current with time and Fig. 4.30 shows the variation of gate opening with time.

Fig. 4.20: Generator voltage Vs time

Fig. 4.21: Generator current Vs time

Fig. 4.22: Load current Vs time

34
 Fig. 4.23: Electrical power Vs time

Fig. 4.24: Rotor speed Vs time

Fig. 4.25: Excitation voltage Vs time

Fig. 4.26: Generator load angle (degree) Vs time

35
Fig. 4.27: Mechanical power Vs time

Fig. 4.28: Grid voltage Vs time

Fig. 4.29: Grid current Vs time

Fig. 4.30: Gate opening Vs time

36
 Initially, the generator voltage, rotor speed, and grid voltage are at 1.0 pu,
while the generator current and grid current are at 0.65 pu and 0.29 pu, respectively.
The load current around 0.2 pu, the electrical power at 0.75 pu, the excitation voltage
at 1.10 pu, generator load angle at 27 degree, mechanical power at 0.751 pu, and gate
opening at 0.726 pu.

From the Fig. 4.20 and 4.28, it is observed that there is no effect on the
generator voltage and grid voltage due to the reduction of load while there is slight
decrease in the generator current during the addition of load at t = 5.0 seconds and
generator current reached to initial steady state value after 6.0 seconds as shown in
Fig. 4.21. The load current is decrease to around 0.1 pu from the initial value of 0.2 pu
due to the reduction of load as illustrated in Fig. 4.22. It is observed that the electrical
power is decreased to 0.7 pu from the initial value of 0.75 pu during the reduction of
load and it reached to initial steady state value after 7.0 seconds as shown in Fig. 4.23
while the rotor speed is increased at the time of load reduction but it reached to initial
steady state value after 7.0 seconds as illustrated in Fig. 4.24. There is decrease in
excitation voltage to around 1.0 pu at the time of load reduction and it oscillates for
about 3.0 seconds and reached to initial steady state value after 8.0 seconds as shown
in Fig. 4.25. There is also decrease in generator load angle to 26 degree from 27
degree at the time of reduction of load and it oscillates for about 2.0 seconds and the
initial steady state value is reached after 7.0 seconds as illustrated in Fig. 4.26. The
mechanical power developed is decreased during the reduction of load at t = 5.0
seconds and it oscillates for about 3.0 seconds and reached to initial steady state after
8.0 seconds as shown in Fig. 4.27. Due to the reduction of load, the grid current is
increased to 0.35 pu from 0.29 pu as illustrated in Fig. 4.29. From Fig. 4.30, it is
observed that the gate opening is increased when load is removed from the system and
it oscillates for about 2.0 seconds and reached back to initial steady state after 7.0
seconds.

37
4.3.3 Case -III: Short Circuit Fault
For this case, the Matlab/Simulink model is shown in Fig. 4.31 and single line
diagram is shown in Fig. 4.32.

Fig. 4.31: MATLAB/Simulink model of hydropower plant for short circuit fault

The disturbance is created by introducing three-phase to ground fault at

synchronous generator terminal at time t = 5.0 seconds and the fault has been cleared
after 0.2 seconds. The simulation is carried for 10.0 seconds. All the quantities are in
per units unless it is stated.

Fig. 4.32: Single line diagram for three phase short circuit fault at SG terminal 38
 Fig. 4.33 shows generator voltage variation with time, Fig. 4.34 shows the
variation of generator current with time, Fig. 4.35 shows the variation of the load
current with time, Fig. 4.36 shows the variation of the electrical power of generator
with time, Fig. 4.37 shows the variation of rotor speed with time, Fig. 4.38 shows the
variation of excitation voltage with time, Fig. 4.39 shows the variation of generator
load angle with time, Fig. 4.40 shows the variation of mechanical power with time,
Fig. 4.41 shows the variation of grid voltage with time, Fig. 4.42 shows the variation
of grid current with time, and Fig. 4.43 shows the variation of gate opening with time.

Fig. 4.33: Generator voltage Vs time

Fig. 4.34: Generator current Vs time

Fig. 4.35: Load current Vs time

39
 Fig. 4.36: Electrical power Vs time

Fig. 4.37: Rotor speed Vs time

Fig. 4.38: Excitation voltage Vs time

Fig. 4.39: Generator load angle (degree) Vs time

40
Fig. 4.40: Mechanical power Vs time

Fig. 4.41: Grid voltage Vs time

Fig. 4.42: Grid current Vs time

Fig. 4.43: Gate opening Vs time

41
 Initially, the generator voltage, rotor speed, and grid voltage are at 1.0 pu,
while the generator current and grid current are at 0.65 pu and 0.29 pu, respectively.
The load current around 0.1 pu, the electrical power at 0.75 pu, the excitation voltage
at 1.10 pu, generator load angle at 27 degree, mechanical power at 0.751 pu, and gate
opening at 0.725 pu.

Due to the occurrence of three phase to ground faults at synchronous generator

terminal at t = 5.0 seconds, the generator voltage and load current drops to zero from
the initial value of 1.0 pu and 0.1 pu, respectively as shown in Fig. 4.33 and 4.35 and
it remains in transient state for around 2.0 seconds after the fault was cleared at t= 5.2
seconds and reached to initial steady state value after 7.0 seconds. The generator
current and grid current are increased to around 11.0 pu and 2.0 pu, respectively
during the fault and it remains in transient state for around 3.0 seconds and reached to
initial steady state value after 8.0 seconds as illustrated in Fig. 4.34 and 4.42. It is also
observed that the electrical power is drops to zero during the fault as shown in Fig.
4.36 and it oscillates for around 4.0 seconds after the clearance of fault and reached to
initial steady state value after 9.0 seconds. The rotor speed is increased to slightly
higher than 1.01 pu from the initial value of 1.0 pu during the fault as illustrated in
Fig. 4.37 and it oscillates for around 4.0 seconds and reached to initial steady state
value after 9.0 seconds. The excitation voltage is increased highly to an average of
11.5 pu from the initial value of 1.10 pu during the fault as shown in Fig. 4.38 and it
oscillates for around 4.0 seconds and it reached to initial steady state value after
around 9.0 seconds. There is significant increased in generator load angle to around
170 degree from the initial value of 27 degree at the time of fault as illustrated in Fig.
4.39 and it oscillates for around 4.0 seconds and reached to the initial steady state
value after 9.0 seconds. The mechanical power developed is decreased during the
fault and it oscillates for around 4.0 seconds and it tends to reached the initial steady
state value of 0.751 pu after 9.0 seconds as shown in Fig. 4.40. The grid voltage is
also decreased to around 0.7 pu from the initial value of 1.0 pu during the fault and it
remains in transient state for around 2.0 seconds and reached to initial steady state
value of 1.0 pu after 7.0 seconds as illustrated in Fig. 4.41. The gate opening is
increased to 0.74 pu from the initial value of 0.725 pu during the fault and it oscillates
for around 4.0 seconds and it tends to reached initial steady state value after 9.0
seconds as shown in Fig. 4.43.

42
4.4 Hydraulic Transient Analysis of Hydropower Plant for Different Values
of PID Governor Gain
The transient analysis of hydropower plant is carried out by simulating the
hydropower plant model for different values of PID governor gain (Kp, Ki and Kd).

4.4.1 Transient Analysis of Hydropower Plant at Different Value of Proportional

Gain (Kp)
The simulation of hydropower plant is carried out for different values of
proportional gain (Kp) keeping the integral gain (Ki=0.1) and derivative gain (Kd=0.0)
constant. All the quantities are in per units unless it is stated. The transient analysis of
electrical power, mechanical power, rotor speed, and gate opening are carried out for
the different values of proportional gain (Kp) 1.0, 2.0 and 3.0. Fig.4.44 shows
electrical power with respect to time, Fig.4.45 shows mechanical power with respect
to time, Fig.4.46 shows rotor speed with respect to time and Fig.4.47 shows gate
opening with respect to time.

Fig. 4.44: Electrical power Vs time at constant Ki & Kd

Fig. 4.45: Mechanical power Vs time at constant Ki & Kd

43
 Fig. 4.46: Rotor speed Vs time at constant Ki & Kd

Fig. 4.47: Gate opening Vs time at constant Ki & Kd

When proportional gain (Kp) increases, the oscillation of the electrical power,
mechanical power, rotor speed and gate opening decreases for the constant integral
gain (Ki=0.1) and derivative gain (Kd=0.0). Thus, settling time of the electrical power,
mechanical power, rotor speed and gate opening are also decreased when K p
increased. Therefore, system becomes stable when the Kp is increased.

4.4.2 Transient Analysis of Hydropower Plant at Different Value of Integral Gain

(Ki)
The simulation of hydropower plant is carried out for different value of integral

gain (Ki) keeping the proportional gain (K p=1.0) and derivative gain (K d=0.0) constant.
All the quantities are in per units unless it is stated. The transient analysis of the electrical
power, mechanical power, rotor speed, and gate opening are carried out for the different

values of integral gain (K i) 0.1, 0.2 and 0.3. Fig.4.48 shows electrical power with respect
to time, Fig.4.49 shows mechanical power with respect to time,

44
Fig.4.50 shows rotor speed with respect to time and Fig.4.51 shows gate opening with
respect to time.

Fig. 4.48: Electrical power Vs time at constant Kp & Kd

Fig. 4.49: Mechanical power Vs time at constant Kp & Kd

Fig. 4.50: Rotor speed Vs time at constant Kp & Kd

45
 Fig. 4.51: Gate opening Vs time at constant Kp & Kd
When integral gain (Ki) increases, the oscillation of the electrical power
generated, mechanical power, rotor speed and gate opening increases for the constant

proportional gain (Kp =1.0) and derivative gain (Kd=0.0). Thus, increases the settling
time of the electrical power, mechanical power, rotor speed and gate opening.
Therefore, a system is becoming unstable when the integral gain increased.

4.4.3 Transient Analysis of Hydropower Plant at Different Value of Derivative

Gain (Kd)
The simulation of hydropower plant is carried out for different value of
derivative gain (Kd) keeping the proportional gain (Kp=1.0) and integral gain (Ki=0.1)
constant. All the quantities are in per units unless it is stated. The transient analysis of
electrical power, mechanical power, rotor speed, and gate opening are carried out for
the different values of derivative gain (K d) 0.0, 1.0 and 2.0. Fig.4.52 shows electrical
power with respect to time, Fig.4.53 shows mechanical power with respect to time,
Fig.4.54 shows rotor speed with respect to time, and Fig.4.55 shows gate opening with
respect to time.

Fig. 4.52: Electrical power Vs time at constant Kp & Ki

46
 Fig. 4.53: Mechanical power Vs time at constant Kp & Ki

Fig. 4.54: Rotor speed Vs time at constant Kp & Ki

Fig. 4.55: Gate opening Vs time at constant Kp & Ki

When derivative gain (Kd) increases, there is excessive oscillation of electrical
power, mechanical power, rotor speed and gate opening for the constant proportional
gain (Kp=1.0) and integral gain (Ki=0.1). This will possibly cause instability to the
generating units. Thus, system become highly unstable when derivative gain
increases. Therefore, a low value of derivative gain (Kd) is recommended.
47
4.5 RT-LAB Models for Hydropower Plant
The Matlab/Simulink model of hydropower plant is implemented in RT-LAB
environment to get the real-time simulation results. To implement real-time
simulation in RT-LAB environment, some modifications of Matlab/Simulink model is
required as discussed below.

4.5.1 Separated RT-LAB Model

The Matlab/Simulink model is required to be separated into two subsystems
and transform it for the suitable real-time operation in RT-LAB environment as shown
in Fig. 4.56. RT-LAB can separate a complex Matlab/Simulink model into simple
subsystems and performed parallel operation in multi-processor.

Fig. 4.56: Separated RT-LAB model

4.5.2 Console Subsystem

The console subsystem named as SC_Console as shown in Fig. 4.57. It
contains all the displaying and accessing blocks. The console subsystem runs on the
host computer which will receive the simulation results and then show the results to
the operator through scope.

48
 Fig. 4.57: Console subsystem

4.5.3 Master Subsystem

The master subsystem named as SM_Master is a computing subsystem which
is shown in Fig. 4.58. Master subsystem contains all the calculation blocks and it runs
on the target machine which has real-time operating system. Therefore, only one
master system is allowed in the model.

Fig. 4.58: Master subsystem

49
4.6 Simulation Results in RT-LAB Environment and Discussion
The real-time simulation results in RT-LAB environment for different cases
are presented and discussed below.

4.6.1 Case -I: Load Addition

With keeping the same conditions given in Matlab/Simulink model simulation,
the real-time simulation results of electrical power, rotor speed, excitation voltage,
generator load angle, mechanical power, and gate opening for load addition on large
hydropower plant are obtained as shown in Fig. 4.59, 4.60, 4.61, 4.62, 4.63 and 4.64
respectively.

Fig. 4.59: Electrical power Vs time

Fig. 4.60: Rotor speed Vs time

Fig. 4.61: Excitation voltage Vs time

50
 Fig. 4.62: Generator load angle (degree) Vs time

Fig. 4.63: Mechanical power Vs time

Fig. 4.64: Gate opening Vs time

From the real-time simulation results obtained for the load addition on large
hydropower plant, the electrical power, rotor speed, excitation voltage, mechanical
power, generator load angle and gate opening characteristics of the plant are similar
with the simulation results obtained in Matlab/Simulink environment for load
addition. However, it is observed from the real-time simulation results that the
addition of load does not take place at the instant of the set time but the effect of load
addition is felt after few seconds from the set time.

51
4.6.2 Case -II: Load Reduction
With keeping the same conditions given in Matlab/Simulink model simulation,
the real-time simulation results of electrical power, rotor speed, excitation voltage,
generator load angle, mechanical power, and gate opening for load reduction on large
hydropower plant are obtained as shown in Fig. 4.65, 4.66, 4.67, 4.68, 4.69 and 4.70
respectively.

Fig. 4.65: Electrical power Vs time

Fig. 4.66: Rotor speed Vs time

Fig. 4.67: Excitation voltage Vs time

52
 Fig. 4.68: Generator load angle (degree) Vs time

Fig. 4.69: Mechanical power Vs time

Fig. 4.70: Gate opening Vs time

From the real-time simulation results obtained for the load reduction on large
hydropower plant, the electrical power, rotor speed, excitation voltage, mechanical
power, generator load angle and gate opening characteristics of the plant are similar
with the simulation results obtained in Matlab/Simulink environment for load
reduction. However, it is observed from the real-time simulation results that the
reduction of load does not take place at the instant of the set time but the effect of load
reduction is felt after few seconds from the set time.

53
4.6.3 Case -III: Short Circuit Fault
With keeping the same conditions given in Matlab/Simulink model simulation,
the real-time simulation results of electrical power, rotor speed, excitation voltage,
generator load angle, mechanical power, and gate opening for three phase to ground
faults on large hydropower plant are obtained as shown in Fig. 4.71, 4.72, 4.73, 4.74,
4.75 and 4.76 respectively.

Fig. 4.71: Electrical power Vs time

Fig. 4.72: Rotor speed Vs time

Fig. 4.73: Excitation voltage Vs time

54
 Fig. 4.74: Generator load angle (degree) Vs time

Fig. 4.75: Mechanical power Vs time

Fig. 4.76: Gate opening Vs time

From the real-time simulation results obtained for three-phase to ground faults
on large hydropower plant, the electrical power, rotor speed, excitation voltage,
mechanical power, generator load angle and gate opening characteristics of the plant
are same with the simulation results obtained in Matlab/Simulink environment.

55
 CHAPTER 5
CONCLUSIONS AND FUTURE SCOPE OF WORKS

In this chapter, conclusion of the work presented in this thesis and future scope
of work is presented.

5.1 Conclusions
In this dissertation work, mathematical modeling of various components of the
hydropower plant is carried out. The individual components of hydropower plant:
nonlinear hydraulic turbine, excitation system, Proportional, Integral and Derivative
(PID) governor, synchronous generator, three phase transmission line and three phase
grid are developed in MATLAB/Simulink environment. The individual components of
hydropower plant are integrated to form hydropower plant and simulated for various
operating conditions i.e., load addition, load reduction and three-phase to ground fault.
The Matlab/Simulink model of the hydropower plant is simulated in real-time
simulation environment (RT-LAB) for the same conditions carried out in
Matlab/Simulink environment after some modification of the Matlab/simulink model.

With the help of developed Matlab/Simulink model and RT-LAB model,

operations of large hydropower plant are tested for the following operating
conditions:
i. Addition of load.
ii. Reduction of load.
iii. Short circuit fault.

Further, the hydraulic transient analysis of the hydropower plant at different

values of PID governor has been carried out. From the obtained results at different
value of PID governor gain, it is observed that the effect on hydraulic transient is
more significant when the derivative gain of PID governor is increased as compare to
the increase in proportional and integral gain. Therefore, system become highly
unstable when derivative gain is increased. Thus, lower value of derivative gain is
recommended for stable operation of the hydropower plant.

5.2 Future Scope of Works

The present work can be extended to the following points.
i. The effect of surge tank is not considered for the developed simulation model. The
simulation model may be developed considering the effect of the surge tank.

56
 ii. PID governor is considered for the developed simulation model. The simulation
model may be developed considering artificial intelligence for control systems.
iii. The real-time simulation of the hydropower plant under RT-LAB environment is
carried out for software synchronization. The simulation can be extended to
hardware synchronization.

57
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