The document proposes a novel governor controller for a hydro-power plant. It presents simulation results comparing the performance of a PI controller, PID controller, and the proposed controller. The proposed controller had better performance measures like gain margin, phase margin, settling time, overshoot, and bandwidth compared to the PI and PID controllers across different hydraulic turbine models, demonstrating its effectiveness.

1. UNDER THE GUIDANCE PRESENTED BY
OF K.ANIL NAIK
Dr. A. K. CHANDEL 09M214
ASSOCIATE PROFFESOR POWER SYSTEMS
EED -NIT HAMIRPUR

2. 1. AIM
2. THE HYDRAULIC SYSTEM
3. PROPOSED A NOVEL GOVERNOR
CONTROLLER FOR HYDRO-POWER PLANT
4. HYDRAULIC TURBINE MODEL
5. SISO TOOL
6. RESULTS AND DISCUSSION
7. CONCLUSION
8. FUTURE WORK
9. REFENCESES

3. 1. Hydro power plants capture the energy of
falling water to generate electricity.
2. This Generated electrical power is injected
into the power system.
3. Day by day power system demand is
increasing.
4. complex power system consists of many
connections like HVDC links, wind, and
distributed generator etc.

5. The speed of the turbine-alternator is dependent upon the load
served by the alternator.
The speed of the turbine is governed by the speed governor .

7. The transfer function of a measurement y and controller output
u in case of a PID controller with the approximate derivative
controller is
1 sTD
GPID ( s ) K 1
sTI sTD
1
N
controller gain at high frequency.
lim GPID ( s) K (1 N )
s
to roll off the controller gain at high frequencies
1
F (s)
(1 sT f ) n

8. The controller is implemented as
1 1
GPID _ der ( s ) K 1 sTD
sTI sT
(1 D )n
N
where
TD
Tf is the filter time constant Tf
N
The value of T f can be coupled to the controller
time constants
N = varies from 20-100
K = proportional gain
n = order of filter

10. The dynamic performance of a hydraulic system is affected by
the turbine-penstock characteristics
Case 1
Pm ( s ) 1 sTW
Ideal loss less turbine
G(s) 1
1 TW
2
Case 2 Pm ( s ) 1 Z p tanh(Tep s )
Water hammer effect G(s) 1
1 Z p tanh(Tep s )
2
2
n sTep
sTep 1
2Tep s n 1 n
1 e
tanh(Tep s )
2Tep s 2
1 e n 2 sTep
1
n 1 (2n 1)

11. T 1s
W
1
2
s
Case 3 1
P (S )
Single surge tank effect m 1
g (S ) 0.5T 1 s
W
1
2
s
1
1
TW 1s TW 2 s
1
2 2
Case 4 s s
1
1
Double surge tank
2
Pm ( S ) 1
g (S ) 0.5TW 1s 0.5TW 2 s
1
2 2
s s
1 1
1 2

12. Case a: No compensation
Case b: With PI controller
Case c: With PID controller
Case d: Proposed controller

13. SISO TOOL is a Graphical User Interface (GUI)

17. No compensation
Here gc (gain crossover frequency) is greater than pc
(phase crossover frequency).

18. KI
GPI ( s ) KP
s
Added one zero on the L.H.S
Added one pole at origin
gc
pc
Since gc should not be greater than pc for stability of the
system. The PI controller of the speed governing system is
stable.

20. KI
GPID ( s ) KP KDs
s
Added two zeros on L.H.S
Added one zero at origin
gc
pc
gcis less than pc and hence the PID controller of the speed
governing system is stable.

22. Two zeros added on the L.H.S of the s-plane
One pole at origin
One pole on the L.H.S of the s-plane
gc
pc
gcis less than pc and hence the Proposed controller of
the speed governing system is stable.

24. Specifications PI PID Proposed controller
Gain Margin 5.83dB 9.85dB 15.7dB
Gain crossover Frequency 0.233r/s 0.217r/s 0.125r/s
Phase margin 29.7o 34.4o 36 o
Phase crossover Frequency 0.459r/s 1.09r/s 1.43r/s
Bandwidth 0.226r/s 0.873r/s 1.305r/s

25. Specifications PI PID Proposed controller
Rise time 8.89s 8.75s 1.86s
Peak time 19.7s 20s 6.28s
Overshoot 54.6% 40.6% 30%
Settling time (1%) 151s 84.6s 13.4s

26. Specifications PI PID Proposed controller
Gain Margin 5.81dB 12.8dB 17.1dB
Gain crossover
0.402r/s 0.154r/s 0.164r/s
Frequency
Phase margin 18.8o 30.1o 43.3 o
Phase crossover
0.85r/s 1.95r/s 2.11r/s
Frequency
Bandwidth 0.0448r/s 1.796r/s 1.946r/s
Specifications PI PID Proposed controller
Rise time 3.14s 4.13s 9.73s
Peak time 12.1s 13.1s 23.6s
Overshoot 50.10% 35.30% 32%
Settling time (1%) 38.6s 77.9s 35.3s

27. Specifications PI PID Proposed controller
Gain Margin 4.75dB 8.94dB 9.38dB
Gain crossover
0.0279r/s 0.0245r/s 0.0202r/s
Frequency
Phase margin 61.5o 65.4o 68.1 o
Phase crossover
0.0732r/s 0.0821r/s 0.0784r/s
Frequency
Bandwidth 0.0453r/s 0.0576r/s 0.0582r/s
Specifications PI PID Proposed controller
Rise time 44s 25.6s 65.5s
Peak time 63.9s 70.7s no peak time
Overshoot 29.3% 6.22% 0%
Settling time (1%) 154s 130s 124.9s

28. Proposed controller

29. Specifications PI PID Proposed controller
Gain Margin 3.07dB 4.07dB 4.35dB
Gain crossover
0.0282r/s 0.0251r/s 0.0242r/s
Frequency
Phase margin 61.9o 65o 66.1 o
Phase crossover
0.0685r/s 0.0689r/s 0.0688r/s
Frequency
Bandwidth 0.0403r/s 0.0438r/s 0.0466r/s
Specifications PI PID Proposed controller
Rise time 20.9s 23.2s 24s
Peak time 72.4s 73.1s 73.4s
Overshoot 30.4% 19.1% 15.7
Settling time (1%) 350s 258s 250s

30. Proposed controller

31. A new robust PID-low pass filter controller is
proposed for hydro power system by considering the
different effects. The proposed controller has been
found to enhance the stability of the hydraulic unit.
Different cases have been considered and compared
to justify the suitability of the proposed controller.

32. 1.Implementation of proposed controller in
hydro-power plant.
2.This hydro generator connect with
interconnected power system.
3.Create sudden disturbance.
4.Analysis of generator parameters .

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