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Agenda

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Hydraulic Turbines

Transfer Function

Special Characteristics

Electrical Analog

Conclusions

Hydraulic Prime Movers Electrical Engineering Power Systems Analysis Universidad Nacional de Colombia
Diego Nicol as L opez Ram rez dnlopezr@unal.edu.co

April 21th, 2012

D. L opez

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Agenda

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Hydraulic Turbines

Transfer Function

Special Characteristics

Electrical Analog

Conclusions

Special Issues

Hydroelectric dam highlights

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Hydraulic Turbines

Transfer Function

Special Characteristics

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1 2

Hydroelectric dam highlights Hydraulic turbines

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Hydraulic Turbines

Transfer Function

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1 2 3

Hydroelectric dam highlights Hydraulic turbines Hydraulic turbine transfer function-Linear systems

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Hydraulic Turbines

Transfer Function

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1 2 3 4

Hydroelectric dam highlights Hydraulic turbines Hydraulic turbine transfer function-Linear systems Special characteristics

D. L opez

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Hydraulic Turbines

Transfer Function

Special Characteristics

Electrical Analog

Conclusions

Special Issues

1 2 3 4 5

Hydroelectric dam highlights Hydraulic turbines Hydraulic turbine transfer function-Linear systems Special characteristics Electrical analog

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Hydraulic Turbines

Transfer Function

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Electrical Analog

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Special Issues

1 2 3 4 5 6

Hydroelectric dam highlights Hydraulic turbines Hydraulic turbine transfer function-Linear systems Special characteristics Electrical analog Simulink/Block diagram

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Transfer Function

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1 2 3 4 5 6 7

Hydroelectric dam highlights Hydraulic turbines Hydraulic turbine transfer function-Linear systems Special characteristics Electrical analog Simulink/Block diagram Conclusions

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Transfer Function

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Dam Scheme

Figure: Schematic of a Hydrolectric Dam.


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Variables

Figure: Schematic of a hydrolectric plant with its main variables.

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Pelton Wheel

Figure: Pelton wheel with ve nozzles.


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Pelton Wheel

Description

Impulse-type turbine

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Pelton Wheel

Description

1 2

Impulse-type turbine The supplied energy is enterly Kinetic

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Pelton Wheel

Description

1 2 3

Impulse-type turbine The supplied energy is enterly Kinetic For high heads, up to 300 m or more

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Pelton Wheel

Description

1 2 3 4

Impulse-type turbine The supplied energy is enterly Kinetic For high heads, up to 300 m or more It works under atmospheric pressure because there is no way to conne water

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Pelton Wheel

Description

1 2 3 4

Impulse-type turbine The supplied energy is enterly Kinetic For high heads, up to 300 m or more It works under atmospheric pressure because there is no way to conne water Ease of control-(Governors)

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Francis Turbine

Figure: Francis turbine and a synchronous generator.


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Francis Turbine

Description

Reaction-type turbine

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Francis Turbine

Description

1 2

Reaction-type turbine Hybrid condition-Potential plus Kinetic energies

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Francis Turbine

Description

1 2 3

Reaction-type turbine Hybrid condition-Potential plus Kinetic energies For heads up to 360 m

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Francis Turbine

Description

1 2 3 4

Reaction-type turbine Hybrid condition-Potential plus Kinetic energies For heads up to 360 m Given that the lower head, the higher water ow

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Francis Turbine

Description

1 2 3 4 5

Reaction-type turbine Hybrid condition-Potential plus Kinetic energies For heads up to 360 m Given that the lower head, the higher water ow The pressure is above the atmospheric because of water immersion

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Francis Turbine

Description

1 2 3 4 5

Reaction-type turbine Hybrid condition-Potential plus Kinetic energies For heads up to 360 m Given that the lower head, the higher water ow The pressure is above the atmospheric because of water immersion The water impacts the runner through the vane guides tangentially and exits axially

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Francis Turbine

Figure: Francis turbine in Three Gorges Dam, China.


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Kaplan Turbine

Figure: Kaplan turbine with its helix.


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Kaplan Turbine

Description

Reaction-type categorie-Propeller

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Kaplan Turbine

Description

1 2

Reaction-type categorie-Propeller Hybrid condition-Potential plus Kinetic energies

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Kaplan Turbine

Description

1 2 3

Reaction-type categorie-Propeller Hybrid condition-Potential plus Kinetic energies It works with a high pressure due to high water ow volume

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Kaplan Turbine

Description

1 2 3 4

Reaction-type categorie-Propeller Hybrid condition-Potential plus Kinetic energies It works with a high pressure due to high water ow volume For heads up to 100 m

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Kaplan Turbine

Description

1 2 3 4 5

Reaction-type categorie-Propeller Hybrid condition-Potential plus Kinetic energies It works with a high pressure due to high water ow volume For heads up to 100 m The water can impact axially or tangentially

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Hydraulic Turbines

Selection Chart

Figure: Turbine selection chart.

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Hydraulic turbines

Some hydroplants

Guavio, 5 230 MW Pelton turbines, Q =25 m3 /s Chivor, 8 125 MW Pelton turbines, Q =20.25 m3 /s San Carlos, 8 155 MW Pelton turbines, Q =32.7 m3 /s Itaipu, 20 715 MW Francis turbines, Q =645 m3 /s T. Gorges, 26 700 MW Francis turbines, Q =600 940 m3 /s

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Transfer Function

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Turbine Transfer Function-Introduction

In order to relate the variables dened before, it is necessary to neglect and idealize the dynamics in the system, therefore, we have the following assumptions
1 2 3

The water resistance is negligible The penstock pipe is inelastic The velocity of water varies direcltly with the gate opening and the square root of the head The turbine output power is proportional to the product of head and the water volume ow

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Transfer Function

Velocity
The turbine and penstock and turbine characteristics are determined by
1 2 3

The velocity of water in the penstock V Turbine mechanical power Pm Acceleration of the water column

The velocity of the water in the penstock is given by V = Ku G H

(1)

By taking the total dierential of V and normalizing with steady state operation values V0 = Ku G0 H0 = G + 1 H V 2
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Transfer Function

Mechanical Power

As we dened before, the mechanical power is given by Pm = Km HV (3)

Again, by taking the total dierential and normalizing, for small changes around the steady state condition, the change in Pm is given by P (4) m = H + V

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Transfer Function

Mechanical Power

Substituting equation 1 in equation 2 to obtain 3 P m = H + G 2 again from equation 1 in 5, it yields Incorporating H P m = 3V 2G (6) (5)

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Transfer Function

Newtons Second Law

From fundamental uid mechanics the acceleration in the water column is given from the Newtons Second Law m d V = F dt = LA d V = Ag H dt (7)

Where: is the mass density (uid) L is the length of the penstock A is the penstock cross area g is the acceleration due to gravity

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Transfer Function

Newtons Second Law


If we take the steady condition for power, it is, Pm0 = A gH0 V0 and dividing equation 7 for normalizing we have LV0 d U = H gH0 dt = Tw V = H dt (8)

where Tw is the water starting time. Finally, by making the past substitutions and taking the Laplace transform in 8, the turbine transfer function is given by P 1 Tw s m = 1 + 1 Tw s G 2 (9)

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Unit Step Response


By regarding the the initial and nal vaules for the turbine transfer function, it yields = lim sU (s )T (s ) = lim s 1 1 Tw s = 2 P (0) s s s 1 + 1 Tw s 2 1 1 Tw s P ( ) = lim sU (s )T (s ) = lim s =1 s s 1 + 1 Tw s s 0 2 (10)

(11)

s ) with a step change is The inverse Laplace Transform of P ( given by 2 u (t ) P (t ) = 1 3e Tw t G (12)

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Special Characteristics

Unit Step Response


2 1.5 1 0.5 Power pu 0 0.5 1 1.5 2 2.5 Step Response

8 10 Time [s]

12

14

16

18

Figure: Power response due to U (t ) gate opening.


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Special Characteristics

U (t ) Responses
3 Step Power Velocity Head

1 Response pu

0.5

1.5

2 Time [s]

2.5

3.5

Figure: All of the relevant variations during the turbine gate positions.
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Special Characteristics

Ramp Response
1.5 Ramp Power Velocity

Response pu

0.5 5 6 7 Time [s] 8 9 10

Figure: Variations due to ramp gate closing.


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Special Characteristics

Simulation

Figure: Simulink diagram block to evaluate the transfer function responses.


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Electric circuit
In understanding the performance of a hydraulic turbine, it is worthwhile to visualize a RL circuit comparison L

E0 i

Figure: Electrical Analog of a hidraulic turbine

+
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Conclusions

Given that ideal transfer function is an approximate model to investigate the mechanical power response in a generation system due to changes in the water column, it permits to calculate a useful design for a hydro turbine installation and at the other hand, to create control systems to prevent a malfunction in the synchronous machine operation in means of voltage and frequency disturbances at the generation buses. By regarding that the past model was not the most precise, we can include the water elasticity, the water hammer eect, the water resistance etc. in the initial model.

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References

References

Kundur, P. S. Power System Stability and Control. Electric Power Reasearch Intitute. McGrawHill. 1994. Suesc un, I. Centrales El ectricas. Universidad de Antioquia.

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