Control Systems in Hydroelectric Power Plants

Sustav regulacije dinamike u hidroelektrani je složeni nelinearni sustav. Za analizu i sintezu regulacije korištena je metodologija matematičkog modeliranja i simulacije. Sustav je podijeljen na više dijelova koji su modelirani i zajednički simulirani. Spajanjem pojedinih simulacijskih blokova dobiven je jedinstveni simulacijski model sustava regulacije u hidroelektrani. Temeljni blokovi simulacijskog modela su: dovodni tunel, vodna komora, tlačni cjevovod, turbina, dinamika rotora, turbinski regulator, sinkroni generator i regulator uzbude. Uz detaljan opis odabrane elektrane i odreĎene ulazne parametre dobiven je konačan model. Simulacije pokazuju djelovanje elektrane pri skokovitim promjenama opterećenja u reţimu sekundarne regulacije i u otočnom radu te ponašanje agregata pri promjeni referentnog napona uzbude. Odzivi su predočeni varijablama: dinamički tlak pred turbinom, razina vode u vodnoj komori, protok na turbini, brzina vrtnje agregata, napon, struja, radna i jalova snaga te kut opterećenja generatora.Dynamic control system in hydroelectric power plant is a complex nonlinear system. For the analysis and synthesis of control in general, methodology of mathematical modeling and simulation is used. The system is divided into several parts which are modeled and then simulated together. By combining individual simulation blocks a unique simulation model of hydroelectric power plant regulation is obtained. The basic blocks of the simulation model are: inbound tunnel, water chamber, penstock, water turbine, rotor dynamics, turbine governor, synchronous generator and excitation control. With a detailed description of a selected plant and defined input parameters the final model is set. Simulations show the power plant responses at load step changes in secondary control and island operation regime with changes in the excitation reference voltage. Responses are presented through variables: dynamic pressure before the turbine, water level in the water chamber, fluid flow in the turbine, generator speed, voltage, current, active power, reactive power and load angle