Hydro governor control of synchronous machines: MATLAB/SIMULINK

based analysis.

Shewit Tsegaye and Kinde a Fante

 Sub-models are used in the calculation of turbine governor model

Abstract— in the dynamic modeling of the hydro plant Governor-turbine. The
This paper presents MATLAB/BSIMULINK based analysis of main advantage of SIMULINK over other programming software
IEEEG3 hydro governor model with AC1A excitation system is that, instead of compilation of program code, the simulation
for hydro governor control of synchronous machines. Accurate model is built up systematically by means of basic function blocks.
modeling of hydraulic turbine and its governor system is
essential to depict and analyze the system response during an
emergency. In this paper, both hydraulic turbine and turbine
governor system associated with IEEE standards are modeled.
The hydro turbine model is designed using penstock and turbine
characteristic equations and its governor system is modeled
using PID controller. To show the post-disturbance reliability
of hydro governor control of synchronous machines, three
phase fault is taken under consideration. Comparison of the
whole system before and after fault has been made and it can
concluded that the system regains after disturbance.

Keywords— Analysis of Hydro power plant, Turbine Model,

Penstock, PID, turbine governor, model, simulation, synchronous
generator.

I. INTRODUCTION
ith increasing complexity of power system networks, Figure 1. Hydro power systems
W power system components such as generators and
alternators need to be modelled in detail in order to II. MODELING OF COMPONENTS
operate and control power systems properly. The primary
source for the electrical power provided by utilities is the kinetic
The functional relationships among the fundamental
energy of water which is converted into mechanical energy by
components associated with the turbine, its governing system, and
the prime movers. The electrical energy to be supplied to the
the generator in a conventional generating unit are shown in Fig 2.
end users is then transformed from mechanical energy by the
help of synchronous generators. The governor system of
synchronous machines should be studied and modelled
carefully.

Conventional governor tuning is performed based on the

classical model, hence the optimal and stable governor settings
obtained by the classical model differ substantially from the
settings obtained from comprehensive models
.
The dynamic characteristics of hydraulic turbine and its governor
system affect Power system performance, during and following
any disturbance, such as occurrence of a fault, rapid change of load.
An accurate modeling of power system components, such as
turbine and its governing system helps to study dynamic response. Figure 2.turbine governor system [1]
The nonlinear turbine model is more suitable for studies
concerning large variation in power output and frequency. [1]
 A. Basic equations
This section describes and provides the required fundamental This is the equation representing the transfer function of a
equations for estimating parameters of the models to their hydraulic turbine. And Mathematical equation of synchronous
standards. Three basic equations of turbine penstock generator (transfer function) is given by:
characteristics:
∆𝑤 1 1
1. Velocity of water in the penstock = 2𝐻𝑠 = 𝑇𝑚𝑠+1 (10)
∆𝑃𝑚
2. Turbine mechanical power
3. Acceleration of water column A governor system regulates the speed and power output of a prime
The velocity of the water in the penstock is given by: mover. The governor control includes mainly a controller function,
and one or more control actuators. It should be mentioned that
𝑈 = 𝐾𝑢𝐺√𝐻 (1) hydro turbines have initial inverse response characteristics of
power to gate changes due to water inertia. Therefore, a hydro
A small deviation of normalized water velocity
1 governor needs to provide a transient droop in speed controls to
∆𝑈 = ∆𝐻 + ∆𝐻 (2) limit the overshoot of turbine gate servomotor during a transient
2
The turbine mechanical power is proportional to the product of condition. This means that for fast deviations in frequency, the
pressure and flow governor should exhibit high regulation (low gain) while in slow
changes and steady state it should exhibit the normal low
𝑃𝑚 = 𝐾𝑝𝐻𝑈 (3) regulation (high gain). [2]
B. Modeling of Governor
A small deviation of normalized mechanical power:
∆𝑃𝑚 = ∆𝐻 + ∆𝑈 (4) The main function of the turbine governing system is to regulate
the turbine‐generator speed and hence the operating frequency and
the active power in response to load variation. The speed control
Substituting delta U:
mechanism includes equipment such as relays, servomotors,
pressure or power amplifying devices, levers and linkages between
3
∆𝑃𝑚 = 2
∆𝐻 + ∆𝐺 (5) the speed governor and governor‐controlled gates. The speed
governor normally actuates the governor‐controlled gates that
regulate the water input to the turbine through the speed control
Substituting delta H: mechanism. Additionally temperature droop and three phase fault
3
disturbances are utilized. [3]
∆𝑃𝑚 = ∆𝑈 − 2∆𝐺 (6)
2
The temporary droop RT is used to limit overshoot of the turbine
The acceleration of water column due to a change in head at the control servomotor during a transient condition. The temporary
turbine which is characterized by Newton’s second low of motion droop may be developed either connecting a dashpot from the
can be expressed as: [2] wicket gate position to the governor error summing point, or
adding a filtered derivative of wicket gate position to the governor
𝜌𝐿𝐴𝑑∆𝑈 error summing point. [4]
= −𝐴(𝜌𝑎𝑔)∆𝐻 (7)
𝑑𝑡
𝛿𝑇𝑟𝑆
Where, L= length of conduit, A= pipe area, ρ= mass density, a g= 𝑅T 1 +𝑇r𝑆 (11)
acceleration due to gravity, ρ LA= mass of water in the conduit,
ρ a g ΔH= incremental change in pressure at turbine gate, t= time
Hydro turbine governors are designed to have relatively large
in second.
transient droop compensation with long resetting times. This
ensures stable frequency regulation under isolated operating
The acceleration equation in normalized form: Dividing both
conditions. The response of a hydro turbine to speed changes or to
sides by A 𝜌𝑎𝑔 HoU0 we get:
changes in speed‐changer setting is relatively slow. The general
𝐿𝑈𝑜 𝑑 ∆𝑈 ∆𝐻
block diagram of governing system is shown in figure 3.
( )= − (8)
𝑎𝑔𝐻𝑜 𝑑𝑡 𝑈𝑜 𝐻𝑜

𝑑∆𝑈 𝐿𝑈𝑜
𝑇𝑤 = −∆𝐻 , 𝑇𝑤 =
𝑑𝑡 𝑎𝑔𝐻𝑜

Tw - water starting time.

It is the time required for a head Ho to accelerate the water in the
penstock from standstill to the velocity U o. Tw ≈ 0.5s to 4.0s (at
full load)

Substituting ∆𝑈 from ∆𝑃𝑚 = 3∆𝑈 − 2∆𝐺 and rearranging;

We can get:

∆𝑃𝑚 1−𝑇𝑤𝑠
= (9) Figure 3. Schematic diagram of the Governing system [3]
∆𝐺 1+0.5𝑇𝑤𝑠
There are several models for hydro turbine governor in PSS/E PID controllers ensure faster speed response by providing both
library but in our case we have selected IEEE standard governor transient gain reduction and increase. The derivative term in the
model type 3 (IEEEG3) depicted in figure 4 below. [5] control action is important in the case of isolated operation.

III. PARAMETERS USED AND SIMULATION

A three-phase generator rated 1.3 MVA, 415V; 112.5 rpm is

connected to a 230 kV network through a Delta-Y 10 MVA
transformer. The system starts in steady state with the generator
supplying 150 MW of active power. At t = 0.1 s, a three-phase to
ground fault occurs on the 230 kV bus of the transformer. The fault
is cleared after five cycles (t = 0.2 s). AC1A IEEE standard model
for excitation system is also utilized. The values used for each
models is depicted in the following tables.
Table 1. Hydro Turbine governor model parameters

Hydro Turbine governor

Figure 4. IEEEG3 model Parameter Value (p u)
H, 2.1
C. Hydraulic-Mechanical Governor H c, h ar 2.74
The governing function of such governors is realized with the use Tw 3
of mechanical and hydraulic components. A large temporary droop W; W ref 93;1
compensation for stable operation of the governor is provided by a
Ta ; R p 0.07;0.05
dashpot. This can also be bypassed if desired. The transfer function
of transient droop compensation is given by: [6] K p ; Ki ; K d 3;0.1;0.02
Td ; K a 0.02 ; 3.333
𝛿𝑇𝑟𝑆
𝐺𝑡𝑑(𝑆) = 𝑅T (12) G min ; G max 0.01 ; 0.975
1 +𝑇r𝑆
Vg min ; V g max -0.1;0.1
The model of the typical hydraulic turbine governor is shown in
Fig. 5. Table 2. Exciter model parameters

Exciter
Parameter Value (p u)
V ref : V term 1;1
Tc:Td 0; 0
Te:Tr 0.08:5
Ka:Ta 200:0.02
Ke:Kf 1:0.03
Tf 1
Vf 1
V r min: V r max 7.3 ; -15
Figure 5.Hydraulic turbine governor model [6]
Table 3. Synchronous machine model parameters
D.Electro-hydraulic (PID) Governors
These days, speed governors for hydraulic turbines use electro Synchronous machine
hydraulic systems. These governing systems are realized by
Parameter Value (p u)
electric components which provide greater flexibility and better
performance. These types of governors are mostly designed in PID Pn:Vn:f 1.3:415:50
controller form which is widely applied in industry. X d : X d’ : X d” 0.9:0.4:0.3
Td’ ; Td’’ ; T go 0.7; 0.035; 0.33
Tg;Rs 0.5 ; 0.03
Tm 10
Kd 1
P 4
Vf;H 1;1

For PID the utilized data are K p = 0.5, K I = 0.5 and K d =

0.5. Simulation encompasses AC1A type exciter, IEEG3 hydro
Figure 6. PID governor for hydraulic turbines [7] governor and other peripheral components
Figure 7. Hydro Governor control simulation model
IV. RESULTS AND DISCUSSIONS
Using the values from the data the following are the results of
simulation. To start the simulation in a steady state we have
initialized the synchronous machine block for desired load
flow.
Figure 8. Rotor speed after fault (ὠm)
Fig 8 depicts rotor speed of synchronous machines after
disturbance which regained its nominal operating speed. This
result is compared with Standard 1207TM-2011 IEEE Guide for
the Application of Turbine Governing Systems for
Hydroelectric Generating Units presented by percentage.
Figure 9.Field voltage (V f)
Figure 10. Stator current (I a b c)
From fig 10 it can be clearly articulated that the effect of
severe three phase fault doesn’t last long. After short period of
time the whole governor control system regains its normal
state.
Figure 11.Armature voltage (V a)
Fig 11 present armature voltage with some effects of the
disturbance between 0.5 and 0.9 seconds.
V. CONCLUSION
In this paper analysis of IEEEG3 hydro governor model and
AC1A excitation system for hydro governor control of
synchronous machines is presented. Accurate modeling of
hydraulic turbine and its governor system is essential to depict
and analyze the system response during an emergency.
VI. REFERENCES

[1] Feltes, J and Koritarov, V and Guzowski, L and

Kazachkov, Y and Lam, B and Grande-Moran, C and
Thomann, G and Eng, L and Trouille, B and Donalek, P
and others, "Review of existing hydroelectric turbine-
governor simulation models," Argonne National
Laboratory (ANL), 2013.
[2] Patel, R and Pagalthivarthi, KV, "MATLAB-based
modelling of power system components in transient
stability analysis," International Journal of Modelling
and Simulation, vol. 25, no. 1, pp. 43--50, 2005.
[3] W. Li, "Hydro Turbine and Governor Modeling and
Scripting for Small-Signal and Transient Stability
Analysis of Power Systems}," KTH Royal Institute of
Techonology, Stockholm, Sweden},, pp. 22-28, 2013.
[4] Hagihara, S and Yokota, H and Goda, K and Isobe, K,
"Stability of a hydraulic turbine generating unit controlled
by PID governor," IEEE transactions on power
apparatus and systems, no. 6, pp. 2294--2298, 1979.
[5] I. P. &. E. Society, IEEE Guide for the Application of
Turbine Governing Systems for Hydroelectric Generating
Units, New York,: IEEE standards association , 2011.
[6] Kishor, Nand and Saini, RP and Singh, SP, "A review on
hydropower plant models and control," Renewable and
Sustainable Energy Reviews, Elsevier, vol. 3, no. 5, pp.
776--796, 2007.
[7] Pavlovi{\'c}, {\DJ}or{\dj}e and Gruji{\'c}, Aleksandra
and Vlaji{\'c}-Naumovska, Ivana and Despotovi{\'c},
{\v{Z}}eljko V}, "Regulacija napona i u{\v{c}}estanosti
dizel elektri{\v{c}}nog agregata optere{\'c}enog
asinhronim motorom".

View publication stats