CIMExcel Software Inc. Slide 1

CIMExcel Software Inc. Slide 1

Advanced Power Plant Control - HydroelectricFor improved stability, improved LFC performance in interconnected or island operating mode,

using non-linear model reference governor control technology.

• APPC - Hydroelectric control algorithm implemented in a modern DCS/PLC.

• Interconnected (Power) and Island (Frequency) Control Modes.

• Performance analysis toolkit and engineering services.

• National Instruments cRIO subsystem for the measurement of Power and Frequency.

• Hydroelectric Power Plant Simulator.

• Simulator-based Installation and Testing.

• Multi-Generator Site Optimization algorithm.


Advanced Power Plant Controlfor the following energy sources

Hydroelectric

Fossil Biomass/Solid Waste/Cogeneration

NuclearWind

Combined Cycle Gas Turbine


APPC Hydro vs. Classic Control AGC-LFC Performance Comparison

APPC Hydroelectric

Classic Control

AGC (Power) Requirement: 90% -> 40% in 10 seconds 40% for 10 seconds 40% -> 90% in 10 seconds

Power Rotor FrequencyTurbine HeadGate Positioner

APPC achieves the required AGC performance

performance error = ∫ | e | dt = 0.8 pu-sec

Classic Control does not achieve the required AGC performance



APPC Hydro vs. Classic Control AGC-LFC Performance Comparison

APPC Hydroelectric

Classic Control

AGC (Power) Requirement: 10 second interval pulse train as shown

Power Rotor FrequencyTurbine HeadGate Positioner

APPC achieves the required AGC performance


Classic Control does not achieve the required AGC performance



Technical Description

APPC - Hydroelectric

1. Hydroelectric Power Plant Modeling and Simulation

2. APPC - Hydroelectric discrete-time, non-linear model reference control algorithm

3. APPC - Hydro simulated Interconnected (Power) Mode Performance

4. APPC - Hydro simulated Island (Frequency) Mode Performance

5. Project Activities

6. Simulator-based Installation and Testing Approach

7. Design of Hydroelectric Power Plant Performance Tests

8. Performance Analysis Toolkit

9. NI cRIO-based Power-Frequency Measurement and Power Generation Observer

10. Gate Positioner Response Analysis

11. Turbine Characteristic Curves

12. Generator Dynamic Response

13. Island Mode Response Test

14. National Instruments cRIO Configurations


APPC - Hydroelectric: ModelingTunnel:d/dt Uc = (H0 + Zc - Hs - f2 Uc

2) / Twc

Surge Tank:d/dt Zs = ( Uc - Ut ) / Ts

Hs = Zs + f0 |Us| Us

Penstock:d/dt Ut = (r(Hs + Zp) - Ht - f1 Ut

2) / Twp

Gate Positioner:d/dt GP = ( UP - GP ) / Tg G = hysteresis(GP)

Turbine:Ht* = (Ut / g1(G))2

Pm = Ut Ht* g2(G) = Ht*1.5 g3(G)

Generator (interconnected mode):d/dt ωr = ( Pm - Pemax(sinδr + α sin2δr) - De(ωr - ωG) ) / 2 H

d/dt δr = ω0 (ωr - ωG)

Generator (island mode):d/dt ∆ωr = ( Pm - Pe0 - DL ∆ωr ) / 2 H

∆ωr = ωr - ωrset

Twc (5 - 50 s)Ts (100 - 1000 s)Twp (0.4 - 2.0 s)Tg (0.2 - 0.5 s)f0 (0.1 - 0.2)f1 (0.01 - 0.04)f2 (0.04 - 0.1)H (2 - 10 s)Pmax (1.5 - 3)De (10 - 30)DL (0.5 – 1.5)


Wicket Gate - Turbine - Generator Model

ωr1/2Hs

δ

D

ωG

Po(sin(δ) + α sin(2δ))

-

++

+

-

+Pm

Pd

Pe

Ht*

( )1.5 g3( )GGp

Up 1

1 + TPs

ωr1/2Hs

DL

ω0

-

++

+

-

+Pm

Pe0Ht*

( )1.5 g3( )GGp

Up 1

1 + TPs

interconnected mode:

island mode:

loop output - - positioner - - gate - - - - turbine - - - - - - - - - - - - - - generator

ω0/s


Discrete-time Non-linear Model Reference Control

Pe(j)

Pe set(j)

÷

Hydroelectric Model Reference

Predictor

Ht*1.5(j+1)

Ht*(t)

g3-1()

Gu(t)Smoother

HysteresisCompensator

Gu(j)G(j)P(j)

PowerControl

Algorithm

ωr(j)

ωr set

FrequencyControl

Algorithm

Mode Selector

ωr(t)

AGC

operator

~ 5 seconds

Blade Hysteresis

Compensator Smoother

Bu(t)Bu(j)B(j)

(with variable pitch blades)

g4()

Filter/ Sampler

ωr(t)

Power Generation Observer

Pe(t)

interconnected mode

island mode

adaptive discrete time step size

event driven


Classic Control - Load Frequency Control (conceptual)

+

Up

ωrset ωr-

1 Rp

+ +load

τR S + 1

(RT/Rp)τR S + 1

droop, Rp = 0.05transient, RT = 0.38

reset, τR = 1 s, interconnected = 5 s, island mode

filter

deadband

rate limitslimits

deadbandrate limits

limitsdeadband


APPC - Hydroelectric - Interconnected Mode Performance (moderate variation of AGC load allocation)


APPC - Hydroelectric - Interconnected Mode Performance (fast variation of AGC load allocation)


APPC - Hydroelectric - Island Mode Performance(external AGC triggered at 2% overgenerated)


Performance Analysis and Engineering ServicesFor Francis, Kaplan, Pelton turbines, surge tanks, and with modern DCS/PLCs.

Analysis

1. Data Acquisition System setup, interfacing to PLC, programming in PLC.

2. Power-Frequency measurement, signal analysis and filtering.

3. Analysis, modeling, and simulation of the tunnel, surge tank, and penstock.

4. Analysis, modeling, simulation of the governor system.

5. Design of the Performance Tests.

Testing

6. Testing for the penstock water hammer dynamics.

7. Testing for the wicket gate and blade pitch positioner hysteresis and response.

8. Testing for the characteristic curves for the turbine flow, power, and efficiency.

9. Testing for the generator dynamic response.

10. Baseline Performance monitoring and analysis for interconnected and island operation.

Simulator

11. Configuration for the Hydroelectric site and the APPC control algorithms.

12. Comparative simulation performance analysis of existing and APPC control algorithms.

13. Integration of the Hydroelectric Power Plant Simulator at the site.

Installation of the APPC control algorithms in the DCS/PLC

14. Parallel control loop block, bumpless transfer switch.

15. Function Block Configuration and or Structured Text Programming. Simulator-based testing.

Performance Trials and Acceptance Testing

16. Interconnected Mode - load following response.

17. Island Mode - frequency control response, and or simulated island operation.


Simulator-based Installation and Testing

DCS /PLC

existing control loop

Hydroelectric Power Plant

Simulator

Turbine HeadTurbine Flow

Rotor FrequencyElectric Power

Gate Positioner

Turbine HeadTurbine FlowRotor FrequencyElectric Power


Rotor FrequencyElectric Power (PGO)

Gate PositionerGrid Frequency

Gate PositionerAPPC

control loop

NI DAQ / PACSubsystem

Electric Power (PGO)Rotor Frequency

Generator 3 Phase VoltagesGenerator 3 Phase Currents


Performance Analysis Toolkit

High Speed NI-DAQ Signal Processing and Filtering Time Series Analysis

Fourier Analysis Power Spectral Analysis


Power and Frequency Measurement - Power Generation Observer


Gate Positioner Step Input Analysis

Step Input without conditioning

Step Input with conditioning


Identification - Gate Positioner Hysteresis


Characteristic Curves - Flow, Power, and Efficiency


Island Mode Response Testing(0.02 pu load reduction)

2H = 11.4 s

0.02 pu

DL = 1


National Instruments cRIO ControllerPower and Frequency Measurement Configuration

NI cRIOController

with LabVIEW-IEC 1131 Software

Rotor FrequencyPhase 1 VoltagePhase 1 CurrentPhase 2 VoltagePhase 2 CurrentPhase 3 VoltagePhase 3 Current

Power GenerationRotor Frequency


National Instruments cRIO ControllerIdentification Configuration

NI cRIOController


Rotor FrequencyPhase 1 VoltagePhase 1 CurrentPhase 2 VoltagePhase 2 CurrentPhase 3 VoltagePhase 3 Current


Gate Positioner Output

Power GenerationRotor FrequencyGate Positioner Input

PC withAPPC -

Hydroelectric Software


National Instruments cRIO Controller Simulator Configuration

NI cRIOController


Phase 1 VoltagePhase 1 CurrentPhase 2 VoltagePhase 2 CurrentPhase 3 VoltagePhase 3 Current

Gate Positioner Output*

Power GenerationRotor FrequencyTurbine Head

PC withAPPC -

Hydroelectric Software

Power GenerationRotor FrequencyTurbine Head

Grid FrequencyGate Positioner Output*

CIMExcel Software Inc. Slide 1

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