Simulation & Control for Gas Turbine

5.1 Introduction
Gas turbine engines are highly responsive and high-speed pieces of
machinery. An example to this effect is aircraft gas turbine that can attain
maximum take-off power from idle state in less than sixty seconds.

Without a proper control system, the compressor can go into surge in less
than 50 milliseconds. Over the previous few decades, the jet engines have
been used in a variety of types depending upon their operation and
objectives. Regardless of their structure or operational requirements, it is
essential to have an automatic control system so that optimum performance
may be achieved and possible hazards associated with malfunctioning of
different components may be avoided. If a gas turbine engine is considered
as a controlled object, there are two kinds of parameters related with its
performance. They may be classified as control parameters and controlled
parameters.

The output parameters are regarded as controlled parameters like shaft

speed, combustor’s temperature, thrust, fuel consumption etc. The set of
gain values is used to control the output parameters and may be classified
as control parameters. The input to the system is either input to controller
or act as error signal for the controller. In this work, shaft speed (N) is
considered as main controlled parameter which is directly related to
amount of thrust generated by the engine. The shaft speed is being
controlled by means of the mass flow rate of fuel (𝑚̇f) provided by the fuel
management system within combustion stage of the engine. This control
action is achieved by using PID control structure and associated design
technique.

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5.2 Gas turbine control system
The main input to the regulator is an electric power reference, i.e. the
amount of electric power the generator should produce. The main output
of the regulator, is the fuel rate, i.e. how much fuel that will be injected in
the combustion chamber. There is a maximum value, with the fuel valves
fully opened and a minimum value, when the valves are open just do the
flame is kept alive. The measurements that are used in the feedback loop
are the speed, the power currently produced in the generator and the
temperature after the turbine.

5.2.1 Over view controller

The typical model of gas turbines in stability studies consists of three
control loops: load-frequency control, temperature control, acceleration
control Figure (5-1) shows a representation of gas turbine control diagram.

The start-up and shutdown controls blocks contained more control loops
and logic sequences that allow ramping the unit up during start-up and
downing during shutdown. The start-up controls ensure proper purging of
the gas paths, establishing the flame, controlling acceleration and proper
warming up of the hot paths before loading the turbine. These controls are
not pertinent to power systems analysis.

Typical the acceleration control loop is active during start-up and shut-
down period as its set-point is variable through these processes.

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 Fig.5-1: Gas turbine control diagram

The startup control sets fuel commands for firing, warm-up, and
acceleration limit for starting and accelerating the gas turbine to operating
speed. The fuel stroke reference determined by the startup control is passed
to the fuel system.

The acceleration control controls the acceleration rate of the gas

turbine during the acceleration to operating speed. The acceleration control
output is restricted by the minimum fuel limit to maintain flame.

The speed control controls the speed of the gas turbine at operating
speed when the turbine is not synchronized to the power system or is
selected by the operator to perform frequency control in a multi-machine
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interconnected system. The speed control is restricted by the minimum fuel
limit.

The load control is used in normal parallel operation to observe a

base or a peak load limit based on temperature control. Load is controlled
by changing the speed/load set point.

The exhaust temperature control regulates fuel in order to provide a

controlled temperature increase or decrease and an upper limit for normal
operation. The average value of the thermocouples sorted highest to lowest
is the exhaust temperature feedback.

The inlet guide vane (IGV) control modulates the IGV angle on a
schedule of corrected speed, which is a function of the compressor inlet
temperature and the gas turbine speed when the gas turbine is started up.
The IGV control also modulates the IGV angle to maintain high exhaust
temperature during part load.

The load brings the IGV angle to open due to increasing exhaust
temperature. The IGV control program depends on the operation type
selected of simple cycle operation and combined cycle operation.

At generator breaker open, the shutdown control ramps the current

fuel stroke reference to the minimum fuel limit and ramps to fuel shutoff
at a defined condition for the purpose to reduce the thermal fatigue duty
imposed on the hot gas path parts.

5.2.2 PID Controller

Proportional-integral-derivative (PID) controller is the best known and
most widely used control strategy in industry today. Its three-term
functionality provides treatment of both transient and steady-state
responses, along with efficient and generic solutions to real world control
problems. Estimation shows that over 90% of control loops employ PID

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control, often with the derivative gain set to zero. The wide application of
PID control has focused its improvement mainly in the areas of tuning
rules, adaptation techniques and identification schemes.

A few reasons for its universal acceptability are:

• Simplicity in structure.

• Easy to implement

• Robust performance in a wide range of operating conditions

• Principle of operation easy to understand than most other advanced

controllers

The transfer function of a PID controller is expressed as:

𝑈(𝑠) 1
= 𝐾𝑃 (1 + + 𝑇𝐷 𝑠) (5.1)
𝐸(𝑠) 𝑇𝐼 𝑠
1
𝑈(𝑠) = 𝐾𝑃 𝐸 (𝑠) + 𝐾𝐼 𝐸 (𝑠) + 𝐾𝐷 𝑠𝐸(𝑠) (5.2)
𝑠
Where:

U(s): control signal E(s): error signal

KP: proportional gain TI: integral time constant

KI: integral gain KP/TI TD: derivative time constant

KD: derivative gain, KPTD

The functions of the three terms of a PID controller are as follow:

1. The proportional term produces a control action proportional to the error

signal. It responds instantly to the current error signal, but often desired set
point accuracy cannot be achieved without a large gain value.

2. The integral term reduces the steady state error, often to zero, by
tracking a constant set point. It also provides complete rejection of constant

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disturbances. Although it filters higher frequency sensor noise, its response
to the current error is slow.

3. The derivative term improves transient response by basing a portion of

the control on a prediction of future error, but it amplifies higher frequency
sensor noise.

Table (5-1) shows the effect of increasing KP, KI and KD individually on

the closed loop response of a stable system in terms of rise time, overshoot,
settling time, steady state error and stability. In order to obtain optimal
performance, these three parameters should be tuned simultaneously.

KP KI KD

Rise Time Decrease Small Decrease Small Decrease

Overshoot Increase Increase Decrease
Settling Time Small Increase Increase Decrease
Steady State Error Decrease Large Decrease Small Change
Stability Degrade Degrade Improve
Table (5-1) Effects of PID parameters

5.2.3 Governor

The GGOV1 model was developed as a general purpose turbine‐

governor model to be used for dynamic simulation studies.
Figure (5-2) shows the GGOV1 model .

This model released by GE is an open source model used for dynamic

simulation based research studies that has been widely accepted by various
international electrical systems councils like IEEE, CIGRE and WECC.

Also, GGOV1 is one among the leading Turbine/Governor model that is

still available in the commonly used simulation based programs/tools.

This model is not at all a detailed thermodynamic treatment.

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 Fig.5-2: GGOV1 standard model.

It is a representation having simplified linear transfer function. In terms of

gas turbine, simplifying assumptions are made for the model as follows:

•IGVs (Inlet Guide Vanes) are neglected.

•A temperature limit or load limit as a constant has been assumed.

•No explicit representation of ambient or other effects.

As IGV’s are neglected, it will result in an assumption, that is, the only

parameter defining the generation of power will be fuel flow. So,

mechanical power at steady state (Pmech) developed from GGOV1

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Turbine/Governor model is given by the following equation:

𝑃𝑚𝑒𝑐ℎ = 𝐾𝑡𝑢𝑟𝑏 × (𝑊𝑓 − 𝑊𝑓𝑛𝑙 ) (5.3)

The main feature of this model is its flexibility for providing different
control options and signals for feedback, namely:

• PID control provided for speed error signal produced by speed

reference, speed, and droop signal.

• PI control provided for the speed error signal produced by speed

reference, speed and droop signal.

• P control provided for the speed error signal produced by speed

reference and speed.

The droop signal can be obtained from a number of feedback signals, i.e.
electrical power, governor output or valve stroke. For the third control d
esign in which only proportional control is used, the reciprocal of the val
ue for the proportional gain defines the droop. There is no need for anot
her signal to define droop.

GGOV1 is appropriate for studies where the plant remains connected

to a large grid; that is for all conventional grid interconnection studies.

The model can also be used for load rejection studies to simulate the syst
em response to loss of loads. For large load pick up studies the model
may not provide accurate results since guide vane dynamics, which are n
ot included in the GGOV1 model, may become a factor.

5.3 Multidomain Gas Turbine Modelica Model

5.3.1 The GT Arrangements package

The detailed gas turbine model is built in Modelica using blocks and
models from the ThermoPower library included in Open Modelica.
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The first package aimed to include the elementary gas turbine topologies,
figure (5-3). The SingleShaftGT model represents a single shaft gas turbine
and it is based on the Brayton Cycle of ThermoPower. The model excludes
the boundary conditions, sensors and actuators and only focuses on the
internal components of the gas turbine. The parameters of the compressor,
combustion chamber and turbine are propagated and therefore, the
SingleShaftGT can be used as a generic block in the representation of gas
power plants.

Fig.5-3: Model structure for gas turbine model

5.3.2 The GT Models package

The second package has the models that result from combining the basic
parameterized gas turbine arrangement with given boundary conditions,
sensors and actuators. The only model included to date is the complete
Thermo Power Single Shaft Gas Turbine ThPowerSSGT model, which can
be seen in figure (5-4). Due to unavailability of data, a still simple but
complete model of the fuel inlet valve that takes valve position as input
instead of fuel mass flow reference was added. This change was needed to
harmonize the physical model of the turbine with the simplified power
system GGOV1-based turbine model.

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 Fig.5-4: The Single Shaft Gas Turbine model built using
ThermoPower components

In order to build the valve model, the fuel mass flow rate 𝑚̇𝑓𝑢𝑒𝑙 values
required to obtain mechanical power from 0 to the maximum value of 10
MW were measured. Then, the gas turbine dynamics blocks from the
GGOV1 model were used as a reference to obtain the following expression
that relates the output mechanical power 𝑃𝑚𝑒𝑐ℎ (in per unit) with the fuel
inlet valve position 𝜃𝑓𝑢𝑒𝑙 𝑣𝑎𝑙𝑣𝑒 (also in per unit) :

𝜃𝑓𝑢𝑒𝑙 𝑣𝑎𝑙𝑣𝑒 = 𝑃𝑚𝑒𝑐ℎ ⁄𝐾𝑡𝑢𝑟𝑏 + 𝑊𝑓𝑛𝑙 (5.4)

Where 𝐾𝑡𝑢𝑟𝑏 is the gas turbine gain and 𝑊𝑓𝑛𝑙 is the fuel mass flow rate at
no load conditions (in per unit). Evaluating the parameters for a range of
0 -10 MW gives a look-up table whose values are shown in table (5-2).

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 Table .5-2: Fuel inlet valve model design data with 𝐾𝑡𝑢𝑟𝑏 = 1.5 and 𝑊𝑓𝑛𝑙 = 0.15
𝑃𝑚𝑒𝑐ℎ 𝑃𝑚𝑒𝑐ℎ 𝜃𝑓𝑢𝑒𝑙 𝑣𝑎𝑙𝑣𝑒 𝑚̇𝑓𝑢𝑒𝑙
(MW) (pu) (pu) Kg/s
0 0 0.1500 1.8497
1 0.1 0.2167 1.9192
2 0.2 0.2833 1.9889
3 0.3 0.3500 2.0589
4 0.4 0.4167 2.1290
5 0.5 0.4833 2.1995
6 0.6 0.5500 2.1995
7 0.7 0.6167 2.3414
8 0.8 0.6833 2.4131
9 0.9 0.7500 2.4853
10 1.0 0.8167 2.5580

Finally, the curve 𝑚̇𝑓𝑢𝑒𝑙 = 𝑓 (𝜃𝑣𝑎𝑙𝑣𝑒 ) , from Table (1-5) was specified in
the model as the look-up table that is shown in figure (5-4), see
combiTable1D.
5.3.3 Generation Groups
Generation group have been created to allow the connection between the
generator and the detailed gas turbine model, can see in figure (5-5).

Fig.5-5: Detailed gas turbine model connected to the interface block

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The function of this new block is to relate the rotational mechanics (flange
internal variables) of the gas turbine model with the generator mechanical
power and speed as shown below:

Parameters of generated can be found in Tables (5-3).

Table .5-3: Parameters of generated at BUS1 (V𝒃 = 13.8 kV).

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5.3.4 Network Models
This section provides an overview of the grid and load models which are
based on ThermoPower library components. A Single Machine Infinite
Bus (SMIB) network model was developed for each of the GT Models
package described in section 5.3.2. These models follow the inheritance
feature of Modelica language to extend one of two basic partial models,
where common network elements and parameters are specified.
Figure (5-6) shows the SMIB network case where the generation group has
no controls.

Fig.5-6: SMIB network model with no turbine governor model.

The initial voltage magnitude, voltage angle, active power and reactive
power values of the generators, the load and the buses are specified by
means of the record pf_results. The SMIB network model parameters can
be found in Tables (5-4).
Tables .5-4: Branch data of the SMIB network model (V𝒃 = 13.8 kV).
From bus To bus R (pu) X (pu)
GEN1 BUS1 0.00000 0.15000
BUS1 GEN2 0.00001 0.2000
BUS1 LOAD 0.00003 0.06000
LOAD BUS2 0.00035 0.07000
BUS2 GEN2 0.00035 0.07000
LOAD BUS3 0.00000 0.00001

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As it can be noticed from figure (5-5), the SMIB network model also
includes a variable load component. It can behave deterministically or
stochastically. The Modelica code of this variable load model is described
in appendix (A).
Although the code of this model is very similar to the one in the Modelica
library, it has a real input for modulation u. Therefore, the new model has
a component that allows for active power modulation in addition to the
component that represents the physical load variability.
5.3.5 Controls
The GGOV1 model implementation of the Modelica library was modified
so to fit the needs of the studies of this work (i.e. modularity of internal
blocks).
As shown in figure (5-7), a re-design was applied on the GGOV1 model to
explicitly show its internal composite blocks. This means that a separate
model was created for each of the three controls logics that are inside of
the GGOV1 model, namely the load limiter, the acceleration limiter and
the main governor.

Fig.5-7: Modified GGOV1 Turbine Governor Model.

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Since we are defining our model with a rated droop 4%, which means for
one % change in our system frequency will make the governor to provide
25% change in MW power output, we need to make the load controller
logic which works accordingly with the speed droop characteristic
incorporated, so that the load controller will provide a regulated output in
accordance with the changes in frequency. Load controller used here is
similar to lcfb1 controller. Here, the power controller reset gain (Kimw) is
taken as 0.02. The rate, at which mechanical power output (Pmech) follows
the setpoint value (Pmwset), depends on Kimw (i.e. If Kimw is less, Pmech follows
Pmwset fast & vice versa is also true).
- Load limiter
From Figure (5-8), In case a transient occurs, change in speed is multiplied
with a gain and load controller provides a load reference (Pref1) to the
governor which is equal to the reciprocal of droop (i.e. for 4% droop
setting, gain will be 25 which is same to the change in power output % for
the droop setting provided). The speed droop characteristic will come into
action.
If load controller is not being used, Kimw will be zero, thereby; load
reference (Pref1) will be equal to zero and speed reference (Pref0) will be
active. If Pref0 is active, speed reference (Pref) will be taken as Pref0 only,
which will vary according to the speed droop logic and not a fixed value.

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Fig .5-8: Load limiter section of GGOV1 Modelica /Simulink_ model

- Acceleration limiter :
The acceleration controller or fsra regulator, which is required during
startup of the gas turbine, will not play an important role during grid
Simulation related studies.
Figure (5-9), shows the acceleration controller logic used in GGOV1
Modelica/Simulink. This controller is implemented in model through a
proportional controller, with acceleration is obtained in the model taking
the derivative of speed, along with a first order lag filter to remove the high
frequency noise components amplified during this process.

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 Fig.5-9: Acceleration controller section of GGOV1 Modelica Simulink_ model

The speed governor section of the model shown in Figure (5-10), where
the speed controller or fsrn regulator was provided with PI controller logic.
Here, as we made the load controller in action, the speed reference (Pref) is
taken as a constant, which is equal to sum of our rated speed and rated
droop, when load controller is active.
Otherwise Pref will be equal to Pref0 as mentioned above. The main key point
of this section is that, a feedback from the electrical power (Pe)
incorporated with the rated droop as gain has been provided to the speed
governor, along with the speed feedback.
The temperature controller which is frequently used in grid Simulation
related studies comes into action, once the machine reaches the load limit
(Ldref). For GGOV1 model, since exhaust temperature limit also is
determined by maximum fuel flow, once the machine reaches the load limit
(Ldref), temperature controller will come into action, thereby maintaining
the turbine operation in the allowable limits. But in this work will consider
the temperature is constant , so The temperature controller is not activated
.

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 Fig .5-10: Speed governor GGOV1 Modelica/Simulink_ model

To carry out this modelling many parameters are required. Most of the
parameters taken here are obtained either through field tests or the
disturbance data recordings obtained. Parameters like control mode and
turbine rating can be obtained from documentation of the vendor or by the
survey of controls.
Some of the parameters like the minimum error, maximum error, settings
of acceleration control cannot be taken from field tests or through
disturbance data recordings. The values provided by the vendor are taken
for this. Table 5-5 shows the typical values of the parameters, if better
information is not obtained.

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Tables .5-5: GGOV1 governor-only parameters

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