Bahir Dar University

Institute of Technology

School of Computing and Electrical Engineering

Department of Electrical Engineering

Semester Project On
Load Frequency Control in Mini Hydro Power Plant

Authors:
Amare Belete [148/01] Supervisor:
Dawit Getachew [102/00] Mr.Habtemariam Alemu
Eshetu Yirsaw [106/01]

Electrical and Computing Engineering (Power and Control)

February 2014
 Declaration of Authorship
We, Amare Belete, Dawite Getachew and Eshetu Yirsaw, declare that this project titled,
’Load Frequency Control in Mini Hydro Power’ and the work presented in it are our
own. We confirm that:

 This work will done wholly or mainly while in candidature for a bachelor degree
at this University.

 Where any part of this project has not previously been submitted for a degree or
any other qualification at this University

 We have seen some other literature review from the work of others.

Authors: Signature Supervisor: Signature

Mr.Habtemariam A.
Amare Belete

Dawit Getachew P. Manager: Signature

Mr.Edemialem G.
Eshetu Yirsaw

Date:17/02/2014 Date:14/02/2014

It is approved that this project has been written in compliance with the formatting rules
laid down by the school of the university.
Examining Committe Members Signature Date

1. Chairman −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

2. Examiner 1 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

3. Examiner 2−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

i
 ii

Abstract

This project describes the load frequency control in a standalone mini hydro power
plant modeling .The frequencies of the existing mini hydro power plants are controlled
by mechanical governors. Unfortunately, these governors are expensive, complex and
slow in response. Furthermore, the governors do not act fast enough during big load
changes; consequently, frequency spikes are created.
In this project, we are trying to control load frequency in a mechanism by using electro
hydraulic governor , that is servo motor which is cheap, fast, easy to control and less
complex, is used to control the frequency of a mini hydro power plant.
The servo motor is used to rotate a spear valve which in turn controls the flow of water
into the turbine of a mini hydro power plant. The position of the stepper motor is
controlled by a PID controller. Thus, a frequency control system using servo motor is
modeled, designed and simulated.
Simulation results for mini hydro power plants with different capacities demonstrate that
transient and steady state performances are enhanced by replacing mechanical governors
with stepper motors. Moreover, frequency spikes are reduced.
Keywords- Servo Motor; Mini Hydro power Plant; Load Frequency Control System;
simulink.
Chapter 1. Acknowledgment iii

Acknowledgment
Thanks to God before all things, because with His Willingness we have completed the
project in time.
The best part of our studies at University of Bahir Dar is to have Mr.Habtemariam
Alemu as our advisor. Without his relentless efforts, timely guidance and constant
support, this project wouldnt have been successful. We sincerely thank him for his en-
couragement and kind nature throughout this project.
We would also like to thank for our research and presentation teacher, Mr.Girmaw
Abebe, who supervise our document.
Contents

Declaration of Authorship i

Abstract ii

List of Figures vi

Symbols vii

Abbreviations viii

1 Introduction 1
1.1 Back ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Statement of the Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Objectives of the Project . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3.0.1 General Objective . . . . . . . . . . . . . . . . . . . . . . 5
1.3.0.2 specific objectives . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Significant of the Project . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5 Methodology for the work . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.6 The scope of this project: . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Literature Review 8

3 System Description and Overall Operation 10

3.1 System Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1.1 Turbine Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1.2 Generator Load Model . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.3 Controller Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.3.1 Design of PID Controllers . . . . . . . . . . . . . . . . . . 12
3.1.3.2 PID Control . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Overall System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4 Matlab Modeling of the System 17

4.1 Penstock and turbine modeling . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.1 Non-Linear Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.2 Travelling-Wave Model . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.1.3 Governor Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.1.3.1 Electro-Hydraulic Governor Modeling . . . . . . . . . . . 19

iv
Contents v

4.1.3.2 PID Governor Modeling . . . . . . . . . . . . . . . . . . . 20

5 Result and Discussion 23

5.1 Result of Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.1.1 Simulation of Mini Hydro Power Plant . . . . . . . . . . . . . . . . 23
5.1.2 Simulation of Mini Hydro Power Plant . . . . . . . . . . . . . . . . 24
5.1.3 Finding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

6 Conclusion and Recommendation 29

6.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2 Recommendation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Bibliography 30

Appendix 31
List of Figures

1.1 Flow chart of Methodology for the work . . . . . . . . . . . . . . . . . . . 7

3.1 Control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.2 Mini-hydro power with feedback control . . . . . . . . . . . . . . . . . . . 13
3.3 Overall system operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.1 Non-Linear Model Of Turbine . . . . . . . . . . . . . . . . . . . . . . . . . 18

4.2 Simulink Block Diagram of Non-Linear Turbine . . . . . . . . . . . . . . . 18
4.3 Non-Linear Model of Turbine (Including Water Column Travelling Wave
Effects) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.4 Simulink Block Diagram (Including Water Column Travelling Wave Effects) 19
4.5 PID Governor Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.6 Simulink Block Diagram of the PID Governor Model . . . . . . . . . . . . 22

5.1 Simulation System for Isolated Generator with PID Governor System . . 24
5.2 Rotor Speed Vs Time Characteristics . . . . . . . . . . . . . . . . . . . . 25
5.3 Field Current Vs Time Characteristics . . . . . . . . . . . . . . . . . . . 25
5.4 Armature Current Vs Time Characteristics . . . . . . . . . . . . . . . . . 26
5.5 Mechanical Power Vs Time Characteristics . . . . . . . . . . . . . . . . . 26
5.6 Field Voltage Vs Time Characteristics . . . . . . . . . . . . . . . . . . . . 27
5.7 Output Voltage Vs Time Characteristics . . . . . . . . . . . . . . . . . . 27
5.8 Output Current Vs Time Characteristics . . . . . . . . . . . . . . . . . . 28

vi
Symbols

αm Rotor Angulare Acceleration rads−1

D Turbine dumping constant
e error
fp Fractional loss coefficient
J Total moment of inertia kgm2
kd derivative constant
ki integral constant
kp proportional constant
PI proportional integral
Pmech Mechanical power
Qn1 no load water flow rate
r reference
rt Reference input
Ta net accelerating torque Nm
Te electrical torque Nm
Tm mechanical torque Nm
Tw water starting time constant
u controller output
wr Rotor speed
y controlled variables

vii
Abbreviations

AGC Automatic Generation Control

Kd derivative gain
ki integral gain
Kp proportional gain
LFC Load Frequency Control
MHPP Mini Hydro Power Plant
MV Manipulated Variable
PID proportional-integral and derivative
VA Volt Ampere

viii
Chapter 1

Introduction

1.1 Back ground

Hydro power plants whose capacities range from 100 to 1000 kW are classified as mini
hydro power plants. Mini hydro power plants are among the ideal renewable energy
resources to electrify isolated rural communities in developing countries.
Unfortunately, it is technically feasible and cost wise to extend the national grid to
isolated rural communities. As the current international trend in rural electrification is
to utilize renewable energy resources, mini hydro power plants have become paramount.
Ethiopia has high hydro potential which can be exploited for the development of mini
hydro power plants. Nevertheless, this vast renewable energy resource has not yet been
exploited sufficiently for electric generation.
One of the challenges in developing mini hydro power plants is associated with the
frequency control system. The frequency control system is intended to be cost-effective
so that isolated rural communities can afford to develop their own mini hydro power
plants.Moreover, the frequency control system is expected to be less complex and more
reliable. Conventionally, mechanical governors are used to control the frequency of
standalone mini hydro power plants; however, these governors are expensive, complex
and slow in response. Furthermore, conventional governors are less reliable. Therefore,
the objective of this paper is to model, design and simulate a less expensive, less complex
and fast frequency control system for standalone mini hydro power plants using a stepper
motor and a spear valve.
Stepper motors are cheap and easy to control, and they are also faster than mechanical
1
Chapter 1. Introduction 2

governors. Thus, a robust controller, which controls the position of a stepper motor
that controls a spear valve, is designed to handle all ranges of mini hydro power plants
and also different ranges of loading. In addition, the controller is capable of reducing
frequency spikes.
It is well known that three-phase alternating current (AC) is generally used to transport
the electricity. During the transportation, both the active power balance and the reactive
power balance must be maintained between generating and utilizing the AC power.
Those two balances correspond to two equilibrium points: frequency and voltage. When
either of the two balances is broken and reset at a new level, the equilibrium points will
float.
The system will be in equilibrium, when there is a balance between the power demand
and the power generated. As the power in AC form has real and reactive components:
the real power balance; as well as the reactive power balance is to be achieved.
The load frequency control is used to maintain the frequency of the electrical network
and keep it at rated value (in our country frequency is 50Hz and voltage is 220v ) during
any disturbance happened from generation side of load side.
Frequency stability can be defined as, the ability of power system to maintain steady
frequency within an acceptable range ( 0.5%). It depends on the ability to keep the
balance between a generated power and load demand, with minimum loss of load. There
are two systems of interest namely isolated system and interconnected system .
In this project, a model of one power plant (isolated system) having one power generation
units connected to load is considered.The main objective is to keep supplying the load
at rated frequency therefore, a controller is required to deal with any sudden increase
or decrease in load demand which will affect the frequency.
A good quality of the electric power system requires both the frequency and voltage to
remain at standard values during operation. For our country, the standard values for
the frequency and voltage are 50 Hertz and 220 Volts respectively. However, the users
of the electric power change the loads randomly and momentarily.
It will be impossible to maintain the balances of both the active and reactive powers
without control. As a result of the imbalance, the frequency and voltage levels will
be varying with the change of the loads.Thus a control system is essential to cancel the
effects of the random load changes and to keep the frequency and voltage at the standard
values.
Although the active power and reactive power have combined effects on the frequency
Chapter 1. Introduction 3

and voltage, the control problem of the frequency and voltage can be decoupled.The
frequency is highly dependent on the active power while the voltage is highly dependent
on the reactive power. Thus the control issue in power systems can be decoupled into
two independent problems. One is about the active power and frequency control while
the other is about the reactive power and voltage control.
The active power and frequency control is referred to as load frequency control (LFC).
The foremost task of LFC is to keep the frequency constant against the randomly varying
active power loads, which are also referred to as unknown external disturbance.
A new control structure with a tuning method to design a PID load frequency controller
for power systems is presented. The controller parameters are obtained by expanding
controller transfer function. Relay based identification technique is adopted to estimate
power system dynamics. Robustness studies on stability and performance are provided,
with respect to uncertainties in the plant parameters. The proposed scheme ensures that
overall system remains asymptotically stable for all bounded uncertainties and for system
oscillations. Simulation results show the feasibility of the approach and the proposed
method improves the load disturbance rejection performance significantly even in the
presence of the uncertainties in plant parameters.
The frequency of a system is dependent on active power balance. As frequency is a
common factor throughout the system, a change in active power demand at one point
is reflected throughout the system.

1.2 Statement of the Problem

 This project is dealing with the frequency problem in isolated system . Lab view
is used for systems to do the following:

I Investigate the system dynamic response during different disturbances without any
controller(using simulation ).

I Proposed different types of controllers to deal with the frequency problem.

I Compare the controllers responses to choose the suitable one.

1. properly designed and operated power systems should meet the following funda-
mental requirement
Chapter 1. Introduction 4

 The system should be able to meet the continuously change load demand

 Should supply energy at mini,Cost and with mini ecological impact

 We have seen other literature review from the work of other

 The quality of power supply must meet certain minimum standard with regard
to the following

I Constancy of frequency

I Constancy of voltage

I Reliability

 The system should be able to meet the continuously changing load demand

 Should supply energy at min. cost and with min ecological impact

 We have seen some other literature review from the work of others.

 The quality of power supply must meet certain minimum standard with regard
to the following criteria

I Constancy of frequency

I Constancy of voltage

I Reliability

2. Power system stability requires well designed controllers to regulate system varia-
tions.

3. Voltage and frequency control actions needed to maintain system operating con-
ditions.

4. Automatic Generation Control (AGC) is the name given to a control system hav-
ing three major objectives:

I Hold system frequency at a specified value (50Hz in Ethiopia).

I To maintain the correct value of interchange power between control areas.

I To maintain each unit’s generation at the most economic value.

Chapter 1. Introduction 5

1.3 Objectives of the Project

1.3.0.1 General Objective

The primary objective of this project is to model MHPP, design and simulate a
PID controller for standalone, mini hydropower plants on irrigation dams.

1.3.0.2 specific objectives

The specific objectives are:-

I To study different frequency control mechanisms of mini hydropower systems

I To model standalone mini hydropower plant frequency control.

I To design a PID controller and supervisory to obtain good transient as well as

steady state performance for standalone mini hydropower plants

I To simulate the PID control system on MHPP using MATLAB-SIMULINK To

explorer and apply the knowledge gain in lectures into practical applications.

I MHPP control modeling with PID controller using MATLAB/SIMULINK.

I To design the PID controller and tune it using MATLAB/SIMULINK

I To compare and analyze the result between the simulations results using a PID
mathematical model in MATLAB/SIMULINK and the experimental result using
the actual Generator.

1.4 Significant of the Project

The project is still very necessary for our county because there is a shortage of
power throughout the country and it can be made within a minimum cost since
there is irrigation project it can match with the project. In our country there in
not enough power distribution in rural (most remote area), so that this type of
project is use full in irrigation user.
Chapter 1. Introduction 6

1.5 Methodology for the work

The first method that we have followed in this project is deep investigation of
MHPP control using PID controller. The other method is using in the literature
survey in which related researches, projects and papers are reviewed and the basic
technical aspects beside is captured and important aspects are analyzed for the
success of our project work.

1.6 The scope of this project:

I Finding the mathematical model of the PID

I Design, analyzing and implement PID controller to actual generation.

I Simulate the PID controller with the modeling of the Generator load model

I The comparison of the simulation result with the actual Generation.

Chapter 1. Introduction 7

Figure 1.1: Flow chart of Methodology for the work

Chapter 2

Literature Review

Conventionally, mechanical governors are used to control the frequency of standalone

mini hydro power plants; however, these governors are expensive, complex and slow in
response. Furthermore, conventional governors are less reliable. Therefore, the objective
of this paper is to model, design and simulate a less expensive, less complex and fast
frequency control system for standalone mini hydro power plants using a stepper motor
and a spear valve. Servo motors are cheap and easy to control, and they are also faster
than mechanical governors. Thus, a robust controller, which controls the position of a
stepper motor that controls a spear valve, is designed to handle all ranges of mini hydro
power plants and also different ranges of loading. In addition, the controller is capable
of reducing frequency spike.For the last few decades studies have been made on MHPPs
and their control systems.
Different method have been considered in different aspects to improving the controller
structure. In a dual mode frequency controller for stand alone, micro and mini hydro
power plant is developed. Load control mode is developed for mini hydro power and
flow control mode is designed for mini hydro power plants.
In load control mode, a ballast load is controlled so that the total load connected to
the synchronous generator is kept constant; consequently, the frequency remains nearly
constant. The problem with load control mode is that during minimum demand of
power a lot of energy is wasted on ballast load. The cited reference didnt consider
micro hydro power that can be installed on irrigation dams where the irrigation has
a high priority over power. In flow control mode, the controller controls the position
of a spear valve using a stepper motor so that the flow of water into the turbine, and

8
Chapter 2. Literature Review 9

consequently the frequency is controlled. The input for this selection is the position of
the gate opening. Based on the frequency and the demand power, the controller also
controls the servomotor in order to close or open the gate opening.
A load-frequency control based model using linear turbine assuming inelastic water
column was proposed for isolated small hydro power plants. The controller is easy and
effective to adjust the parameters of PI controller and could be applied to the system
with various nonlinearities and wide range of parameter variations.
Chapter 3

System Description and Overall

Operation

3.1 System Description

3.1.1 Turbine Model

Hydro turbine is used to drive the synchronous generator which the rotation speed of
hydro turbine is very much dependent on the speed of water flow. However, the speed
of water flow can be controlled by controlling the valve or gate of the hydro turbine. By
comparing the turbine rotor speed and the demanded electrical power, error is deter-
mined and the corrective action will be taken by PID controller.
The output mechanical power of a hydraulic turbine depends on the amount of water
flowing into the turbine. The amount of water flowing into the turbine is regulated by
a spear valve. Consequently, the input mechanical power to the synchronous generator
is controlled by controlling the position of the spear valve.
The stability of the generated power is taken into consideration since the load power is
changing with time. As the load power is changing, the rotor speed of the synchronous
generator will be changed. The rotor motion is determined by Newtons second law,
given that

Jm(t) = T m(t) − T e(t) = T a(t) (3.1)

10
Chapter 3. System Description and Overall Operation 11

Where
J = total moment of inertia of the rotating masses, kgm2
m = rotor angular acceleration, rad/s2
Tm = mechanical torque supplied by prime mover minus mechanical losses, Nm
Te = electrical torque that accounts for the total three phase electrical power output of
the generator plus electrical losses, Nm
Ta = net accelerating torque, Nm
The mechanical losses and electrical losses areneglected.Tm and Te are positive for
generator operation. In steady state operation, Tm and Te are equal and therefore, the
net accelerating torque is zero. However, if the load power decreases, Te will be reduced.
Tm will be greater than Te. The net accelerating torque will be positive resulting in
positive rotor angular acceleration. The rotor speed of synchronous generator will be
increased. This situation could cause the electrical frequency of generated power being
varied and affects the quality of generated power. Thus, a PID controller is introduced
to control water flow based on the feedback output rotor speed and output active power
of the synchronous generator.

3.1.2 Generator Load Model

The frequency of a synchronous generator is directly related to the balance between the
mechanical power input to the generator and the demand. Additionally, the frequency
depends on the damping coefficients of the generator and the load connected to it. The
relationship between frequency deviation and change in power is modeled.

3.1.3 Controller Model

Different types of controllers can be used to control the position of the stepper motor;
and consequently, the position of the spear valve. However, for the sake of simplicity, a
proportional-integral and derivative (PID) controller is proposed. The input to the PID
controller is the frequency deviation and the output is the input angle of the stepper
motor.
The main purpose of this paper is to build a model based the network PID control that
is used to control the Mini-Hydro Power (MHP). This control is set to be able to control
the turbine rotation to become stable at a certain round when the load changes.
Chapter 3. System Description and Overall Operation 12

The system is a closed loop control using feedback from the output of the generator.
By adjusting the volume of water from the spill away through the governor, the turbine
rotation can be maintained automatically. With the stability of turbine rotation, the
generator will generate a voltage stabilized at 220 VA with a frequency of 50 Hz.

3.1.3.1 Design of PID Controllers

Control Systems
PID controllers are commonly used to regulate the time-domain behavior of many differ-
ent types of dynamic plants. These controllers are extremely popular because they can
usually provide good closed-loop response characteristics, can be tuned using relatively
simple design rules, and are easy to construct using either analog or digital components.
A PID controller treats the error in three different ways: proportional, integral and
derivative.
The PID controller is the most common form of feedback. In process control today, more
than 95 percent of the control loops are of PID type, most loops are actually PI con-
trol.PID controllers are today found in all areas where control is used. The controllers
come in many different forms.There are standalone systems in boxes for one or a few
loops.
PID control is an important ingredient of distributed control system. The controllers
are also embedded in much special purpose Control systems. PID control is often com-
bined with logic, sequential functions, selectors, and simple function blocks to build the
complicated automation systems used for energy production, transportation, and man-
ufacturing. Many sophisticated control strategies, such as model predictive control, are
also organized hierarchically. PID control is used at the lowest level; the multivariable
controller gives the set points to the controllers at the lower level. The PID controller
can thus be said to be the bread and buttertt of control engineering.
It is an important component in every control engineers tool box.PID controllers have
survived many changes in technology, from mechanics and pneumatics to microproces-
sors via electronic tubes, transistors, integrated circuits. The microprocessor has had a
dramatic influence on the PID controller. Practically all PID controllers made today are
based on microprocessors. This has given opportunities to provide additional features
like automatic tuning, gain scheduling, and continuous adaptation.
Chapter 3. System Description and Overall Operation 13

Figure 3.1: Control system

3.1.3.2 PID Control

A PID-Controller with the following transfer function is superimposed on the servomo-

tor based governor as :

e(t)dt + kd de(t)
R
kpe (t) + ki dt = G(t).........T imedomain

ki
kp + + kds = G(s) (3.2)
s

Where its
Kp = proportional constant
Ki = integral constant
Kd = derivative constant
System control close loop with feedback control system is illustrated in the following fig-
ure; where r, e, u, y are respectively the reference, error controller output and controlled
variables.
PID-Controller block receives input e (t) and produces output u, where u is the combined
output of all components Ki, Kp and Kd such as shown in equation 1.

Figure 3.2: Mini-hydro power with feedback control

Chapter 3. System Description and Overall Operation 14

Where is PID-Controller in time described in equation

Z
de(t)
kp e(t) + ki e(t)dt + kd = u(t) (3.3)
dt

Where is
u(t)= is the controller output
et= is the error
t =is the sampling instance.

 Modeling of Servo motor

Power used by servo motor

P= Tω+I 2 R

A permanent magnet servo motor is used to control the spear valve of the mini hy-
dro power plant. The transfer function between the input and the output angle of a
permanent magnet stepper motor is calculated.

 Frequency Sensor and Spear Valve Models

The frequency sensor is modeled to be a scalar multiplier whereas the model of the spear
valve is a linear one with minimum and maximum gate positions because the relationship
between the output angle of the stepper motor and the position of the spear valve are
directly proportional. Thus, the sensor can be modeled by a scalar Ks and the spear
valve by a limiter.
A valve and a nozzle in one fitting that give continuous control over the flow. A motorized
spear valve controlled by logic circuits can maintain constant water level in the intake
and maximize energy production.

3.2 Overall System Operation

All the different components of a mini hydropower plant have already been modeled in
the previous sections. Now, putting together all the transfer functions obtained results in
Chapter 3. System Description and Overall Operation 15

the block diagram shown below. Therefore, any mini hydropower plant can be modeled
for frequency control

Figure 3.3: Overall system operation

In general in the overall system operation

It use to control the system fluctuation of the load by controlling the frequency.
1.PID: Proportional gain (KP):
Large proportional gain typically means faster response, since the larger the error, the
larger the proportional term compensation. However, an excessively large proportional
gain may result in process instability and oscillation.
Integral gain (KI):
Larger integral gain implies steady-state errors are eliminated faster. However, the trade
off may be a larger overshoot, since any negative error integrated during transient re-
sponse must be integrated away by positive error before steady state can be reached.
Derivative gain (KD):
Larger derivative gain decreases overshoot but slow down transient response and may
lead to instability due to signal noise amplification in the differentiation of the error.
Chapter 3. System Description and Overall Operation 16

2.Amplifier: To amplify the error signal when coming from the PID.The it uses to control
the valve or inlet water.
3.Frequency sensor: It is a sensor that uses to Compare the output frequency and setting
frequency and send the difference to PID controller.
4.Generator: Generator use to generate electric power.
Chapter 4

Matlab Modeling of the System

4.1 Penstock and turbine modeling

4.1.1 Non-Linear Model

The linear model of the hydraulic turbine is inadequate for studies involving large varia-
tions in power output and frequency. The mathematical equation representing dynamic
behavior of the penstock-turbine is given as:

dx10 1 x10 2
= (1 − ) − fp (x10 )2 (4.1)
dt Tw gate

Mechanical power output is given by:

X10 2
pmech = At ( ) (X10 − Qn1) − D.Gate.δW (4.2)
Gate

Where
Tw = is the water starting time constant
fp= is the frictional loss coefficient
Pmech= is the mechanical power
Qnl =is the no-load water flow-rate At is the turbine gain constant
wr =is the rotor speed

17
Chapter 4. Discussion 18

D =is the turbine damping constant

Figure 4.1: Non-Linear Model Of Turbine

The block diagram shown in Fig. 4.1 and the Simulink model shown in Fig.4.2 represent
the dynamic characteristics of the turbine with a penstock, which is suitable for large-
signal time domain simulation . The penstock is modeled assuming an incompressible
fluid and a rigid conduit.

Figure 4.2: Simulink Block Diagram of Non-Linear Turbine

4.1.2 Travelling-Wave Model

The modeling of the hydraulic effects using the assumption of inelastic water column
is adequate only for short and medium length . For long penstocks, the travel-time of
the pressure and flow waves, due to the elasticity of the steel in the penstocks and the
compressibility of water, can be significant . The non-linear model of turbine-penstock
Chapter 4. Discussion 19

incorporating water column travelling-wave effect is shown in Fig.4.3 and its Simulink
block diagram is shown in Fig.4.4.

Figure 4.3: Non-Linear Model of Turbine (Including Water Column Travelling Wave
Effects)

Figure 4.4: Simulink Block Diagram (Including Water Column Travelling Wave Ef-
fects)

4.1.3 Governor Modeling

4.1.3.1 Electro-Hydraulic Governor Modeling

A governor regulates the speed and power output of a prime mover as a control system.
The governor includes mainly a controller function, and one or more control actuators.
It should be mentioned that hydro turbines have initial inverse response characteristics
of power to gate changes due to water inertia. Therefore, a hydro governor needs to
Chapter 4. Discussion 20

provide a transient droop in speed controls to limit the overshoot of turbine gate servo-
motor during a transient condition.
This means that for fast deviations in frequency, the governor should exhibit high reg-
ulation (low gain) while in slow changes and steady state it should exhibit the normal
low regulation (high gain). Therefore, a large transient droop with a long resetting time
is required. This feedback limits the movement of the gate blades until the water flow
and mechanical power output have time to overtake. The governing function of such
governors is realized with the use of mechanical and hydraulic components.
Modern speed governors for hydraulic turbines use electro-hydraulic systems. Function-
ally, their operation is very similar to that of the mechanical-hydraulic governors. Speed
sensing, permanent droop, temporary droop and their measuring and computing func-
tions are performed electrically. Regulation of the head is desirable under run of river
mode operation of hydro plants and hence, hydraulic governor with head controller is
used to control the speed of the turbine.

4.1.3.2 PID Governor Modeling

Some of the electro-hydraulic governors are provided with three-term controllers with
proportional-integral derivative (PID) action. These governors allow the possibility of
higher response speeds by providing both transient gain decrement and transient gain
increment. Without derivation action, it is equivalent to a hydraulic governor. The
proportional and integral gains can be adjusted to obtain desired temporary droop and
Reset-time. The derivative action is beneficial for isolated operation. Fig. 4.5 shows the
block diagram and Fig.4.6 shows the Simulink block diagram of the PID governor with
head controller.
The PID control scheme is named after its three correcting terms, whose sum constitutes
the manipulated variable (MV). The proportional, integral, and derivative terms are
summed to calculate the output of the PID controller. Defining as the controller output,
the final form of the PID algorithm is:

Z τ =t
de(t)
U (t) = M V (t) = Kp e(t) + K e(τ )dτ + kd (4.3)
τ =0 dt
Chapter 4. Discussion 21

or

Z
de
U = Kp e + KI e(dt) + KD (4.4)
dt

The gain parameters are related to the parameters of the standard form through :

Kp
Ki = (4.5)
Ti

Kd = Kp Td (4.6)

Where: Kp: Proportional gain, a tuning parameter

Ki: Integral gain, a tuning parameter
Kd: Derivative gain, a tuning parameter
e: Error (process variable or value)
t: Time or instantaneous time (the present)
τ : Variable of integration; takes on values from time 0 to the present .
The signal u (t) will be sent to the plant, and the new output Y will be obtained and
sent back to the sensor again to find the new error signal e. The controller takes e
and computes its derivative and its integral again. This process goes on and on. By
adjusting the weighting constants KP, KI, and KD, the PID controller can be set to give
the desired performance. Effects of each of these parameters on a closed-loop system
are summarized as in. Taking the Laplace transform of Eq. 4.12 gives transfer function
of the PID controller and looks like the following:

U (s) KI 2
K(s) = = Kp + + KDS = KDS + KP S + KI (4.7)
KI S

This transfer function clearly illustrates the proportional, integral, and derivative gains
that make up the PID compensation.
Chapter 4. Discussion 22

Figure 4.5: PID Governor Model

Figure 4.6: Simulink Block Diagram of the PID Governor Model

Chapter 5

Result and Discussion

5.1 Result of Simulation

5.1.1 Simulation of Mini Hydro Power Plant

In the present case, the generator is envisaged to be connected to isolated load with
PID Governor System as shown in Fig.4.7. The results obtained are found to be in good
matching appropriate values of parameters of governor, exciter and hydraulic compo-
nents have been given.
The simulation results for the present test case have been shown in various character-
istics forms from in the following figures. The proposed model has been evaluated by
means of making proper predictions regarding settings and variations in parameters.

23
chapter 5 Result and Discussion 24

Figure 5.1: Simulation System for Isolated Generator with PID Governor System

5.1.2 Simulation of Mini Hydro Power Plant

Simulation of MHPP including its various components viz. Penstock and Turbine, Elec-
tro Hydraulic Governor, PID Governor and Exciter etc., have been carried out in the
present article. The developed software is fully cable for simulating run of river hydro-
plants under change in load, speed, voltage etc. and this demonstrates the dynamic
behavior of the plant.
Two models of penstock have been developed: one using non-elastic water column theory
and another using water column traveling wave effect. Two types of governor models
have also been developed. They are: Electro hydraulic governor and PID governor.
chapter 5 Result and Discussion 25

Figure 5.2: Rotor Speed Vs Time Characteristics

Figure 5.3: Field Current Vs Time Characteristics

chapter 5 Result and Discussion 26

Figure 5.4: Armature Current Vs Time Characteristics

Figure 5.5: Mechanical Power Vs Time Characteristics

chapter 5 Result and Discussion 27

Figure 5.6: Field Voltage Vs Time Characteristics

Figure 5.7: Output Voltage Vs Time Characteristics

chapter 5 Result and Discussion 28

Figure 5.8: Output Current Vs Time Characteristics

5.1.3 Finding

Investigations carried out in the simulation process revealed the following observations:

 The rotor speed hence frequency as indicated by Fig.5.2 is found to be more at

the start in order to take up inertia forces but, at the later stage it goes down and
ultimately achieves a constant value.

 Fig.5.7 depicts that terminal voltage increases within a range of 0 to 0.45 during
the time period 0 to 0.07 second and thereafter it achieves a constant value.

 The current developed in the armature of the stator attains constant value within
0.05 sec and is shown in Fig.5.4.

 Fig.5.4 shows that electrical current per unit almost remains constant.

 Fig.5.7 and 5.8 confirm that the line voltages and currents in conductors are at
120 degree apart.
Chapter 6

Conclusion and Recommendation

6.1 Conclusion

A small hydro power plant (MHPP) model has been successfully simulated using MAT-
LAB/ Simulink. Simulations performed on the proposed control scheme using the
Simulink utility of MATLAB have demonstrated the efficacy of the proposed virtual
MHPP model. Servomotor as Governor using PID Controller is best suited for speed
governing in MHPP. The values of proportional gain Kp and integral gain Ki of PID
Controller has significant roles in determining the stabilizing time. So optimization of
these parameters is absolutely necessary. Increase in water starting time leads to in-
crease in perturbations due to response of the hydro turbine to water change which is
opposite to that required in the beginning.

6.2 Recommendation

In the future, the performances of the frequency controller with grid connected mini
hydropower plants can be investigated. In addition, the controller can be modified to
Fuzzy PID controller design for load frequency control using gain scaling technique.

29
Bibliography 30

1. Goran Anderson,Dynamics and Control of Electric Power Systems, ETH Zurich,

March 2003.

2. Guillermo J.Silva. Aniruddha Datta. and S.P.Bhattacharyya. 2005. PID Con-

trollers for Time Delay Systems.

3. Birkhuser.Kyoung Kwan AHN, Dinh Quang Truong, and Yoon Hong Soo. 2007.
Self Tuning PID Control for Hydraulic Load Simulator. International Conference
on Control, Automation and Systems COEX, Seoul,Korea: 345-349.

4. Goyal, H., Bhatti, T.S., and Kothari, D.P. A novel technique proposed for auto-
matic control of small hydro power plants, International Journal of Global Energy
Issues, 24 (1/2 ) , 2005 ,pp 29-46.

5. Karl johan astrom, control system design 2002 pp 216-218

6. Phuket,Thailand Proceedings of the IASTED Asian conference modeling Identifi-

cation,and control(AsiaMIC 2012),April 2-4 2012.]

7. Ghanashyam Ranjitkar, Jinxing Huang and Tony Tung (2006): Application of

Micro-hydropower Technology for Remote Regions, IEEE EIC Climate Change
Technology, 2006 pp 1-10. ]

8. P.M.Anderson., A.A.Fouad., Power System Control and Stability, A Text Book,

2nd edition 2003, IEEE Press, Wiley-India Edition, 2003.
Appendix

1. Plant: It also known as the process and it is the physical system to be controlled

2. Output or the Controlled Variable: It is the signal or the plant output which we
need to control.

3. Reference: It is the desired value that we want to see at the output. In this thesis
set point or reference is the desired speed of the primover.

4. Controller: It is the system that we use to control the outputs of the plant for
the desired functionality. In this thesis, PID Controller is used for controlling the
motors speed by providing the signal to the PWM Generator that will change the
pulse width of the PWM output so as to bring the speed of the motor to the
desired or to the set point.

5. Transient: It is the temporary variation in the load parameter after which the
parameter which is to be measure returns to its desired value

6. Disturbance: It is the additional undesirable input to the plant that tries to de-
viate the controlled variable from its set point and it is the signal which is to be
compensated by the controller.

7. Manipulated Variable: The manipulated variable is used to maintain the controlled

variable at the desired set point. In this thesis the output of the controller is the
manipulated variable.

8. Actuator: It is the device that we use to control the input to the plant.

31