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Semester Project: Analysis and Control of A Boiler - Turbine - Generator-System Electro-Power Radial
Semester Project: Analysis and Control of A Boiler - Turbine - Generator-System Electro-Power Radial
Semester Project
discipline
Industrial Plant Control
Coordonator:
Student:
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Industrial Plant Control Student:
Content
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Industrial Plant Control Student:
1. Process presentation
Project Objective
The simplified design of the main control circuits for the following system:
boiler-turbine-generator (an electric-energetic radial system) and the analysis of
some important step responses.
Given Data:
STATISM EC3
RUG + u*G
+ ∆UP ± ∆N -
u * + EC2 EEx
P RN SMH =
-
~
+uP V -I U
C T G S
f
qabv P+jQ
P UG
up
P
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Industrial Plant Control Student:
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Industrial Plant Control Student:
(~/=), power amplifier levels (EEx), representing the excitation circuit of the
generator and others. The block scheme of the system is the following:
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Industrial Plant Control Student:
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Industrial Plant Control Student:
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Industrial Plant Control Student:
Functional details
qabv - the steam flow controlled by a control active power classical circuit by comparing a
reference power Up* proportional to the actual active power given by the system.
RN – the active power controller which commands the partial inlet steam valve V, through
the hydraulic actuator SMH
The generator G is provided with adjustment reactions of the reactive power, terminal
voltage UG through RUG regulator and Eex excitation element. UG* is the reference
voltage generator.
Is deducted a comparison reaction against current i0. There is also ensured a statism
reaction against frequency f by comparing a reference frequency (usually 50 Hz) to the
voltage Uf proportional with the real frequency. The Uf*-Uf deviation is processed through a
proportional effect in the statism element providing an additional component ∆UP of the
active power.
The live steam pressure control is ensured through a scheme in cascade with two PI
controllers. On the main circuit we have a pressure-unified current converter and on the
internal circuit, a differential pressure –unified current converted, followed by a root
extractor. In general, on the flow’s feedback loop, a transducer with calibrated diaphragm,
the differential pressure ∆p being proportional to the square of the flow. It is required the use
of a root extractor, this way, the unified current being proportional to the flow. The external
feedback loop ensures the reaction against live steam pressure, and the inner loop ensures
reaction against fuel flow qc.
The second control loop ensures proper combustion by maintaining the oxygen
concentration resulted from the flue gas in acceptable limits. Has also a control loop in
cascade, in relation to the oxygen for external loop, respectively combustion air, qaer, for the
internal loop.
The third control loop is for depressure in ΔpF outbreak. It is necessary to maintain a
depressure of -2mmH2O (millimeters of water) inside the furnace. On the feedback loops
there are differential pressure – unified current transducers.
The water supply flow control is provided through a convergent setting with the following
reactions:
- In relation to the supply flow: qapa
- In relation to the water level in the reel: h
- In relation to the live steam pressure: pabv
- In relation to the live steam flow: qabv
The transducers and converters type in unified signal is the same as in the previous schemes.
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Industrial Plant Control Student:
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Industrial Plant Control Student:
Explanation:
The frequency f of the radial electro-energetic system (unpaired with another system)
is introduced in the transducer (uf/f) and the unified voltage signal (-u ), which is linearly
f
dependent on the frequency, is introduced in the comparison element EC1, where u * is the
f
frequency reference value in unified voltage. The EC1 block output error is corrected in the
Statism element, representing a negative feedback signal which is introduced in EC2. The
second unified reference signal is u * - the active power reference which is compared with
p
the negative feedback signal –u , that is linearly dependent on the active power P, generated
p
by the generator G (the second feedback circuit).
The output error of EC2 is processed by the active power controller RN and the
command signal operates the SMH execution element. The SMH output signal represents the
axial displacement (high forces – hundreds of kg) that acts on the vent V, which is destined
to control the steam flow (q ).
abv
Control of the reactive power at the generator’s terminals is achieved through a
double reaction system that has a negative feedback for U and a positive feedback for I (with
a much smaller weight). The two signals (U and I) are rectified and the unified voltage signal
is applied as an equivalent feedback in EC3.
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Industrial Plant Control Student:
The output error of EC3 is processed in RU , and the command signal is applied on a
G
complex element called excitation circuit. The output of this element is the excitation current
of the generator G rotor, allowing it to produce the excitation flux.
Remarks:
the current references are denoted by i* and refer to slow pocesses: 2-10 or 4-20
-
mAcc; The natural zero (0 mA) is avoided in order to reduce the noise influence from
the process, because the slow processes have at least one time constant bigger than 10
sec.
the voltage references are denoted by u* and refer to fast processes 1-10V or 10Vcc;
-
the time constant is smaller than 10 sec.
All the liquid flows are denoted by q (Q), the temperatures by , the pressures with p,
the differential pressure by p and the salinity by S. Thus, we have:
1
Q 2 k * p; Q k 2 * p ; p p1 p 2
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Industrial Plant Control Student:
5) the output steam temperature, having a correction relative to the steam temperature
before the injection;
6) the continuous purge depending on the steam flow and the water salinity in the boiler.
The references for the six control circuits are:
iapv*, iO2*, iΔPF*, ih*, iqav* iS*.
2. Data design
A. Thermal part
PGnom P 122[MW];
1) The main parameter: the nominal power of the generator:
1 Mcal
2392 ;
MWh
4) The processed steam enthalpy:
i =780 [Mcal/tona];
2
MCal
PCCH 4 8,5
Nm
3
1 MCal
PGnom MW
MWh 2335 360 Nm 3
qCnom qCH 4 nom 98894.1176
MCal 8.12
Page 5 h
PC CH 4
Nm
3
Industrial Plant Control Student:
abnom 530 0 C
O (%) = 5%
2
Kcal
PCCH 4
Nm Nm b) 359338.34 Nm
3 3 3
q aernom qcombnom ( a h
h Kcal
1000 3
Nm
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Industrial Plant Control Student:
1 MCal
PGnom MW
MWh tona
q abvnom q abviu 389.0986
MCal
(i2 i1 ) h
tona
MCal
i1 30
Ton ă
i2: Enthalpy of the processed steam after the superheader (the parameter limits of the
processed steam are taken into consideration and we determine the liniar
interpolation).
P = 100 [bar] => i2= 809 [Mcal/tonă]
abvvar
P = 210 [bar] => i2= 781 [Mcal/tonă]
abvvar
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Industrial Plant Control Student:
B. Electric Part
Power Factor:
1.
P[W ]
cos 0.825
S [VA ]
The bigger the active power is, cosφ is higher by economical reason. A greater reserve
of stability is assured. Commonly cosφ = 0,91-0,92 is not surpassed to ensure a reactive
power big enough to force in short circuit regime the excitation of the generator.
Q[VAr ]
- required reactive power to magnetize the magnetic circuits of the
generator, transformers, electric engines. The compensation of reactive power is followed.
PEnom [MW]
Excitation nominal current: i = = 0.001 [kA]
8. Enom UEnom [V]
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Industrial Plant Control Student:
P [MW]
Gnom 100÷200 201÷300 301÷400 401÷>401
(aici =420)
U [kV] 15 20 25 30
Gnom
U [V] 300 400 500 600
Enom
U [V] 270 360
Pcnom
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Industrial Plant Control Student:
It is considered that the boiler has 6 input signals and 9 output signals. Theoretically,
there is a transfer function between each input and each output. Practically, most of these
transfer functions have negligible weight, resulting only 19 important transfer function.
The graphical approach is used in order to establish the dependence between signals.
H11 pabv
1
qCH4 H
H1221 O2
1 2
H22
H23 pF
qaer 3
2
H33 h
H44
qga 4
3 H15
H25 pabt
H27 5
qapa H16
4 H26 qabv
H46 6
H28 H17
qij absi
5 H57 7 S
H18 abv
qpj H49
6 H69 8
Figure 4. The connections between the main signals
9
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Industrial Plant Control Student:
Taking into consideration the low-pass filter with phase delay characteristic of the majority
of sub-processes included in the transfer functions, the approximations can be done through
step response identification. Despite the fact that the approximation of transfer functions
using proportional forms to first order functions can be somewhat rough, it is generally used
in design, while the second order ones are rarely used.
We have two cases:
A.
Command
i
Nominal value
i0
0 t
e 1 3
Output
est
0 Tm t
T
Le k
H1 Tm s ;
Li 1 Ts
For curve 1 we have:
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Industrial Plant Control Student:
Le k
H2 Tm s ;
Le Li 1 (T
k 1 T2 ) s T T
1 2 s 2
H3 Tm s ; p n 1 2 ;
Li 2 1
1 s 2 s2
n n
Command
B.
i
Nominal value
i0
0 t
e Output
0 Tm t
1
2
est
3
T
In this case, the transfer functions corresponding to each curve will be opposed to the ones at
point A.
The following notations were used:
est- the stationary value of the output
i0-the stationary value of the input
T- time constant of the sub-process
Tm-time delay constant
1. The transfer function of the steam’s pressure with regard to the fuel flow:
L{ p abv } k11
H 11 ( s ) Tm11 s ;
L{q c } 1 T11 s
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Industrial Plant Control Student:
L{O2 } k 21
H 12 ( s ) Tm12 s ;
L{qc } 1 T12 s O2 [%] [% h]
k12 h %3 1.4563 *10 -4 [ Nm 3 ]
q cnomNm
Nm
h
3
Tm12 10[sec] ; T12 60[sec];
1.456310 4 10 s
H 12 ( s ) 1 60 s
;
3. Transfer function of the processed steam in the drum, in relation to the fuel flow:
L{ p abt } k15
H 15 ( s ) Tm15 s ;
L{q c } 1 T15 s
Tm15 9[min] 540[sec];
T15 90[min] 5400[sec];
(1.1)· pabvnom[bar ] 99[bar ] h bar
k15 2.8 10 3
Nm Nm Nm
3 3 3
qcnom 34332.2352 h
h
3 540 s
H 15 ( s) 2.9110 5400
s
;
4. Transfer function of the processed steam flow in relation to the fuel flow:
L{q abv } k16
H 16 ( s ) Tm16 s ;
L{q c } 1 T16 s
Tm16 12[min] 720[sec];
T16 120[min] 7200[sec];
tonă tonă
q abvnom 389.0987
k16 h h 11 .3 10 3 tona
Nm 3 Nm 3 Nm 3
qcnom 34332.2352 h
h
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Industrial Plant Control Student:
3 720 s
H 16 ( s) 11.3110 7200 s ;
6. Transfer function of the processed steam temperature in relation to the fuel flow:
L{ abv } k18
H 18 ( s ) Tm18s ;
L{q c } 1 T18 s
Tm18 12[min] 720[sec];
T18 120[min] 7200[sec];
abvnom [C ] 530[ C ] 3 h C
k18 15. 4 10 3
Nm 3 Nm 3 Nm
qcnom 34332.2352
h h
3 720 s
H 18 ( s) 15.4110 7200 s ;
7. Transfer function of the processed steam pressure in the tank in relation to the combustion
air flow :
L{ p abv } k 21
H 21 ( s ) Tm 21s ;
L{q aer } 1 T21 s
Tm 21 10[min] 600[sec];
T21 100[min] 6000[sec];
4 600 s
H 21 ( s) 2.50461106000s ;
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Industrial Plant Control Student:
8. The transfer function of the oxigen percentage contained in the exhaust gases with respect to
the combustion air flow:
L{O2 } k 22
H 22 ( s ) Tm 22s ;
L{q aer } 1 T22 s
Tm 22 10[sec];
T22 60[sec];
O2 nom [%] 5[%] % h
k 22 1.3914 10 5
Nm Nm Nm
3 3 3
q aernom 359338.3407
h h
5 10 s
H 22 ( s) 1.391411060 s ;
9. The transfer function of the furnace vacuum with respect to the combustion air flow:
L{p F } k 23
H 23 ( s ) Tm 23s ;
L{q aer } 1 T23 s
Tm 23 10[sec];
T23 5[sec];
p Fnom [mmH 2 O ] 2[ mmH 2 O] 6 h mmH 2 O
k 23 -5.5658 10 Nm 3
Nm 3 Nm 3
q aernom 359338.3407
h h
6 10 s
H 23 ( s ) -5.5658110 5 s ;
When the air flow increases, the furnace vacuum decreases to negative values.
10. The transfer function of the steam pressure in the drum with respect to the combustion air
flow:
L{ p abt } k 25
H 25 ( s ) Tm 25 s ;
L{q aer } 1 T25 s
Tm 25 9[min] 540[sec];
T25 90[min] 5400[sec];
11. The transfer function of the processed steam flow with respect to the combustion air
flow:
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Industrial Plant Control Student:
L{q abv } k 26
H 26 ( s ) Tm 26 s ;
L{q aer } 1 T26 s
Tm 26 12[min] 720[sec];
T26 120[min] 7200[sec];
tona tona
q abvnom 3.5934
h h tona
k 26 1.1 10 -3 ;
Nm Nm Nm
3 3 3
q aernom 359338.3407
h h
3 720 s
H 26 ( s) 1.1110 7200
s
;
12. The transfer function of the steam temperature in the intermediary superheate with
respect to the combustion air flow:
L{ absi } k 27
H 27 ( s ) Tm 27 s ;
L{q aer } 1 T27 s
Tm 27 10[min] 600[sec];
T27 100[min] 6000[sec];
ab sin om [C ] 480[C ] 3 h C
k 27 1.3 10 ;
Nm 3 Nm 3 Nm 3
q aernom 359338.3407
h h
3 600 s
H 27 ( s) 1.3110 6000
s
;
13. The transfer function of the process steam temperature with respect to the combustion air
flow:
L{ abv } k 28
H 28 ( s ) Tm 28s ;
L{q aer } 1 T28 s
Tm 28 12[min] 720[sec];
T28 120[min] 7200[sec];
abvnom C 530 C 3 h C
k 28 1. 5 10
Nm 3 Nm 3 Nm 3
q aernom 359338.3407
h h
H 28 ( s) 1.51107200
3 720 s
s ;
14. Fdt of the depressure in the burner, in relation with the flow of burned gases :
L{p F } k 33
H 33 ( s ) Tm 33 s ;
L{q ga } 1 T33 s
Tm 33 5[sec];
T33 10[sec];
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Industrial Plant Control Student:
15. Transfer function of the water level in the tambour in relation with the flow of the supply
water:
L{h} k 44
H 44 ( s ) Tm 44 s ;
L{q apa } 1 T44 s
Tm 44 20[sec];
T44 20[sec]; hnom=100[mm]=0.1 [m];
hnom [ m] 0.1[ m] h m
k 44 2.57 * 10 4
tona tona tona
q apanom 389.0987 h
h
4 20 s
H 44 ( s) 2.57*110 20s ;
16. Transfer function of the processed steam flow in relation with the flow of the supply water:
L{q abv } k 46
H 46 ( s ) Tm 46 s ;
L{q apa } 1 T46 s
tona tona
q abvnom 389.0987
k 46 h h 1;
tona tona
q apanom 389.0987
h h
720 s
H 46 ( s ) 1 7200 s ;
17. Transfer function of the saltiness in relation with the flow of the supply water:
L{S } k 49
H 49 ( s ) Tm 49 s ;
L{q apa } 1 T49 s
Tm 49 60[min] 3600[sec];
T49 600[min] 36000[sec];
S nom % 1[%] h %
k 49 2.57 10 5
tona tona tona
q apanom 389. 0987 h
h
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Industrial Plant Control Student:
4 3600 s
H 49 ( s) 2.57110
36000 s
;
18. Transfer function of the temperature of the processed steam in the intermediary
overheater in relation with the injection flow (water or steam)
L{ absi } k 57
H 57 ( s ) Tm 57 s ;
L{qij } 1 T57 s
Tm 57 10[sec];
T57 10[sec];
ab sin om 100C ;
ab sin om [C ] 100[ C ] h C
k 57 25.7004
tona tona tona
q ijnom 3.890986
h h
10 s
H 57 ( s ) 25.7004
110 s
;
L{S } k 69
H 69 ( s ) Tm 69 s ;
L{q pj } 1 T69 s
Tm 69 60[sec];
T69 60[sec];
S nom [%] 1[%] h %
k 69 0.0257
tona tona tona
q pjnom 0.3890986
h h
60 s
H 69 ( s) 0.0257
1 60 s
;
The transfer matrix of the boiler having the dimension (9x6) with 19 transfer functions
is now presented. The other 35 elements have the value of zero:
O2 H12 H22 0 0 0 0
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Industrial Plant Control Student:
h 0 0 0 H44 0 0
S 0 0 0 H49 0 H69
R11
A. Processed Cip
steam pressure adjustment
R1 R12 12 E11
Pabv
*
i pabv a11 ci11 a12 ci12 c qCH4 k11 sTm11
1
PI PI i
The control loop is a tracking system with respectSPR
p12
to the referenced ) 1T11having
H11 ( scommand, s
a fast behaviour because of the low inertia ofΔp
- the pneumatic servomotor and the valve(SPR).
CΔpi12
- iqCH4 Er11
i
r11 Δp
A
KM12 P
Page 26 i
p
Cpi Figure 6
Industrial Plant Control Student:
The internal control loop has a converter Δp i12 and because the differential
pressure used as a output signal from the calibrated diaphragm is proportional to the
square or the flow, we need a square-root extractor.
Calibrated diaphrahm :
Note: - c i11 and ci12 are unified current control and cp12 is a control signal in
unified pressure.
- is considered non-inertial, with the proportionality factor resulting from the static
characteristic of the generator
p[bar]
0,2
2 10 i[mA] Page 27
Figure 7
Industrial Plant Control Student:
- is considered to have a liniar characteristic, but the inertia revealed by the1s time
constant can't be neglected
cp12[bar]
qCH4[Nm3/h] 0.8
qCH4nom
qc[Nm3/h] t[sec]
qCH4nom TE11
cp11[bar]
t[sec]
0,2 1 [ ] 126
Figure 8 Figura e9: Step response of SPR
Nm 3 Nm 3
qcnom 34332.2352
h h Nm 3
k E12 42915.294 ;
(1 0.2) bar 0.8[bar ] h bar
TE12 1[sec];
L{qc } k E12 42915.294
H E12 ( s )
L{C p12 } 1 TE12 s 1 s
c) The internal feedback circuit
KM12
Er12 + CΔpi12
This system being stabilizer and of small inertia, the controller R 12 will be tuned using
the modulus criterion, with the dead time constant neglected (no dead time Tm).
1 1
H R12 ( s ) ;
2T12 s (1 T12 s ) H EX 12 ( s )
K cip12 K E12 K M 12 1 K Ex12
H EX 12 ( s ) ;
1 TE12 s 1 T12 s (1 TE12 s )(1 T12 s )
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Industrial Plant Control Student:
R11
11
i* ++ a c 1 q K11 K Tm11s p
pabv 11
PI 11 CH4 H1111(s()s)1 T s 11 Tm11abvs
H
-- 2T2 s 2 2T s 1 111 T s
11
r
11
i
i
p
p
Cpi11
Cpi11
p
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Industrial Plant Control Student:
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Industrial Plant Control Student:
The external loop of the cascade control structure has a quite big time constant: Tm11=10
min. So, the controller tuning R 11 will be made according to slow processes using Ziegler-
Nichols method.
1 / K M 12 K11 K K
H EX 11 ( s ) Tm11s K cpi11 11 cpi11 Tm11 s
1 2T s 2T s 1 T11s
2 2
1 T11s
P1 i[mA]
The proportionality constant KCpi11
can be deduced from the following
10
figure:
Convertor design:
i0=2mA
i
P k + +
Using the Ziegler-Nichols criterion we obtain: VR11 0.8 T11 0.8 6000[sec] 8;
Tm11 600[sec]
T = 3T = 30 [min] = 1800 [sec];
i11 m11
1
H R11 ( s ) 8 ; reg .P.I .
1800 s
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Industrial Plant Control Student:
(1 0.2)[bar ] bar
K Cpi 43 0.1
(10 2)[mA] mA
bar
H Cpi 43 ( s ) K Cpi 43 0.1 ;
0,2 mA
2 10 i[mA]
b) Pneumatic servomotor with SPR control valve
Figure
- it is considered that it has a linear characteristic, with the proportionality coefficient
resulting from the figure below:
qapa[to/h] cp43[bar]
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qapa[to/h] t[sec]
qapanom t[sec]
Industrial Plant Control Student:
qapanom
0
TE43
cp43[bar]
0 0
0,2 1
tona tona
q apanom 389.0987
K E 43 h h 1945.493 tona ;
(1 0.2)[bar ] 0.8[bar[ h bar
TE 43 1[sec];
L{q apa } K E 43 1.945493
H E 43 ( s ) ;
L{C p 43 } 1 TE 43 s 1 s
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Industrial Plant Control Student:
10
through the internal reaction loop, at its tuning the effect of the external reaction
loop being neglected.
Because the internal loop has no time delay, the controller can be tuned using
the modulus criterion as follows:
1 1 1
H Ext 43 ( s ) H ' Ext 43 ( s ) ;
1 T 43 s 1 s 1 0.01s
1 1
H R 43 ( s ) H Ext 43 ( s)
2T s(1 T s) 0.02 s (1 0.01s)
1 (1 s )(1 0.01s) 1 s 1 s
H R 43 ( s) 50 ;
0.02 s (1 0.01s) 1 0.02 s s
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Industrial Plant Control Student:
Remarks:
Since this control system enter in the category of fast processes, unified
current signals are replaced by unified voltage signals. Unified current is used to
slow processes for which distances are large and therefore suitable for induction
noise.
Since the unified power generators have high output resistance which is
associated to negative feedback of strong current, there is almost a complete
desensitization to noise inductions and to changes of equivalent load resistance.
The presence of a false null desensitizes more noise influence.
Unified voltage is suitable for fast processes for which circuit’s length is short.
It is suitable generating constant voltage supply with low output resistance
because they are cheaper and more beneficial.
m
– actuator signal of live steam flow: is the angular displacement that develops
qabv
hydraulic camshaft and which opens gradually by turning the n partial steam inlet
valves.
The deviation between UP and UP* is considered an input signal for the RP
controller, resulting in the command signal Cqabv for the hydraulic actuator SMH,
which through the valve operates the turbine T and the generator G.
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Industrial Plant Control Student:
The deviation between UP and UP* represents the deviation from the
regulation without the statism correction.
It is the main loop the one for which the weight of the statism correction is
much smaller (about 10%) assuring the load of active power group, proportional
with the rated power of the group, in the hypothesis of a deviation of the 50Hz
frequency, in fault regime appears.
The statism correction is done through the deviation between UF and UF* and
of the statism element Ks.
We are interested in determining and interpreting the transfer functions of the
elements’ components.
The valve (drawer) S fed at Pal pressure (between 6-100 atm) seals completely the
two inlets, towards the P piston, only if the valve (small drawer) S is in a central
position. As a consequence, the P piston is not moved and the output signal (axial
displacement ‘u’) is zero.
The opposing spring R is calibrated according to the position of a tension screw. We
have to assure an axial position of the hydraulic reaction element formed of the case
C and interior piston F. There is no axial connection between the points O3 and O,
only by intermediary action, by varying the oil pressure above and beyond the
piston P.
The input signal is the deviation (error) ‘a’, and the output signal is the
command signal ‘u’ which acts directly on the valve. If the deviation ’a’ increases,
the L1L2 lever starts to rotate around O3 , ensuring the displacement ’b↑’ and also
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Industrial Plant Control Student:
the oil intake in the upper part of the piston P through the valve (small drawer) S,
which will be driven downward( ’u’ decreases). There will appear a reaction through
L3L4, which starts to rotate round point O and finally resulting a downward
displacement of L3L4 and ’v’. Thus descend the housing C too, resulting a small
overpressure at the top of the piston F. This overpressure causes a downward
movement of O3 through 'w↓'. Thus descends O2, resulting 'r↓'.
Since ‘b↑' and '↓r' are antagonistic, there appears a negative hydraulic
reaction, which results some advantages:
- decreases the mechanical equivalent inertia
- improves linearity, by damping the attenuation of some mechanical disturbances
- increases the stability, by damping the attenuation of some possible oscillations.
Since the oil is incompressible, and taking into consideration the advantages
of the negative hydraulic reaction, will result a low inertial valve-piston system,
which ensures very high forces and torques. All these should present very
complicated and inefficient solutions in the case of the electric motors.
There can be written the following equations:
L2
(1) b K1 a where K1 ;
L1 L2
( 2) c b r;
du
(3) K c;
dt
L3
( 4) v K2 u where K2 ;
L3 L4
d
(5) F (v w) R w;
dt
L1
(6) r K3 w where K3 ;
L1 L2
Equation (3) represents the speed of the piston P, which is proportional both
to the intake surface of the valve (small drawer) and to the feeding pressure Pal.
Equation (5) represents the balance between force developed by the
hydraulic damper F and the antagonistic force caused by spring R.
Finally after applying for the equations (l)÷(6) the Laplace transform will
result:
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Industrial Plant Control Student:
( 2) c L{b r};
( 4) v K2 u
Eliminating the intermediary variables L{b}, L{c}, L{u}, L{w}, L{r} we get
the transfer function of the valve-piston system:
1
Kp
L{u} Ti s
unde
L{a} 1 T s
F K K1 R K K2 K3 F F
Kp ; Ti ; T ;
R K K2 K3 F F K K1 R K K2 K3 F
mqabv[m] mqabv[m]
mqabvnom
Page 40
b) Valve V
tona tona
q abvnom 389.0987
L{q abv } h h 3890.987 tona
H V ( s) KV m h
L{m qabv } m qabvnom[ m] 0.1[ m]
c) Turbine + generator T+G
L{PG } K T G
H T G ( s) ;
L{q abv } 1 TT G s
TT G 10[sec];
PGnom [ MW ] 122[ MW ] MW h
K T G 0.3135
tona
q abvnom 389 .0987
tona tona
h
h
0.3135
H T G ( s )
1 10 s
d) Active power feedback loop and statism correction
L{U P } 10[V ] V
Kp 0.0820 ;
L{P} 122[ MW ] MW
Page 41
2. The transfer coefficient on the statism correction circuit
L{U f } 10[V ] V
KF 0.2 ;
L{ f } 50[ Hz ] Hz
f0 f= f0 - Δf
∆f
f
Ps U f ( f 0 f )
*
U f f 0 f
*
P
S0 ΔP
0 PS0 ∆P PS P[W]
The next relations can be written:
U S K S (U *f U f ) K S (U *f K f f )
PS K SP U S K SP K S (U *f K f f ) Ps statism correction power
where KSP is the statism correction power related to the
reaction
f f 0 f PS U *f ( f 0 f ) U *f f 0 f PS 0 P
where K SP K S K F si K SP K S
So for a decrease of (-Δf) corresponds from the power group a contribution
∆P = μΔf.
It requires this statism under the form:
f[Hz]
df f 1 f
S S
dP f P
0.4[ Hz ] Hz f0
S 3.3 10 -3 -∆f
Pnom [ MW ] MW
f
0 PS0 ∆P PS
where:
P[W]
-0.4 is the maximum frequency deviation around nominal frequency;
-S is the ratio between the power system frequency variation at the variation of
the group power from "0" to Pnom;
Uf*- Uf f/Uf
fo
KS
SMH T+G
uS V
*
uP 0,01
1 0,336 PG + f
10703.93 α=1.11 10-3
RP 20 s 1 10 s
- af Cqabv mqabv qabv
Up 0.0277
F/Uf
Giving the controller active power RP is made after the module criterion, the equivalent
system is the closest to a fast system, being imposed a frequency stabilization behaviour.
The direct path circuit has the transfer function without regulator HEX, the
whole loop together with the active power-voltage converter will have transfer
function:
1 0.2 s 0.2 s 1
H d ( s ) H Ex1 ( s ) K P 61 0.0820 744
s (1 10s ) s (1 10s )
1 744(0.2 s 1)
H Ex ( s ) H d ( s ) ;
1 T s s (10s 1)(0.01s 1)
where TΣ = 0.01 [sec] and represents the sum of the mainly irretrievable time
constants.
1 1
H RP ( s )
2 T s (1 T s ) H Ex ( s )
1 1 s (1 10s )(1 0.02s ) 10s 1
0.0672
2 0.01s (1 0.01s ) 744 1 0.2 s 0.2 s 1
R2 C2 R4
R1 C1
- R3 -
af A01
+ A02
+ af
R R
HA01 HA02
The first amplifier brings in a pole and a zero. The second one is an
inverting amplifier. Using identification: ( HRP(S) = HAOech(s)) is obtained.
For AO1:
The value of capacitor C is chosen from the catalog:
For AO2:
Coefficient KS is calculated from the condition that the frequency range ±0.2Hz, i.e.
Δf=0.4Hz, around the nominal frequency of 50 Hz, can be ensured by the nominal power of
the group.
f [ Hz ] 0.4 Hz
S 3.278 10-3
PGnom [ MW ] 122 MW
The increase of nominal power PGnom has the effect of decreasing the frequency f, as
shown in the figure below:
f[Hz]
50,2
50
49,8
0
0.5P P P [MW]
Gnom Gnom G
U* - 0,2
f
KS
U
S
+ a 36 P + f f
f G 0
U * +
0,02s 1 1.1 10
-3
P
u * a c a c a c α
G UG RUG iE iE RiE UE UE RUE CCG P
_ _ _ C Upc
Ex1
UUEx = KUEUE Mu UE
Ex2
UiEr=KiE·iE
Mi IE
UG
G
- IG
On the above figure, the following notations are used:
UGr=KUG·UG-KiG·iG = +
RU – generator terminal voltage regulator
G
RI – excitation current regulator
E
RU – excitation voltage regulator
E
M , M – measurement transducers+ current, voltage adaptors
u i
c – excitation current’s command
iE
c – excitation voltage’s command
uE
a)
Main component elements
1. Synchronous generator
2. EE Exciter
iPC IE
R S T
Ex=EE
LEE
REE UPC UE IE
GEE G EX1 EX2
UPC ~
UE
n=cst.
0 90 α[˚]
PPCnom 1% PEnom 0.01 0.3 10 6 3[kW ]
PPCnom [W ] 3 10 3
iPCnom 11 .11[ A]
U PCnom[V ] 270
Cf
UEE = UPC
REE, LEE
In circuit analysis, the dead time of this block will be neglected: T ≈0;
mCCG
R S T
The voltage-pahse conversion factor is defined: K CCG 90 11 .25
α [˚] c 8V V
This ratio corresponds to a maximum variation of the phase shift control pulses of
180variation of the voltage into CCG achieved by
current to the grid which for a 8V
designing a maximum phase shift of 900.
90
-8 0 8 c[V]
The control voltage of the regulator denoted by „c” is between –8V and 8V.
The condition is ensured:
c=0 => α =90˚
90
90 c 90 11 .25 c
8V
U PC 270 3 270 3 (90 11 .25 c ) 33.75 c
In general :
U PCnom U
U PC U PCnom U PCnom PCnom (90 11 .25 c )
90 90
U PCnom
U PC 11 .25 c
90
For U PCnom 270[V ] U PC 33.75 c
L{U*G}The
L{a }
control L{ciE}looks
scheme L{aiElike
} L{cUE} below:
the figure L{ aUE } L{c} L{ UPC }
UG
HRIE
K EE
HRUG RUE 33.75
1 TEE s
- - - KUE LUE
L{UUEr}
KE
1 TE s
L{UiEr}
KiE
LIE
KEG
LUG
KG LIG
1 TE s
+ -
~
=
L{UGr}
b) The calculation of the transfer functions of the component elements
L{U E } K EE
H EE ( s )
L{U PC } 1 TEE s
diPC
U
PC EE L REE iPC
dt
U E K EE iPC
L{i E } KE
H E (s)
L{u E } 1 TE s
i Enom [ A] 1000[ A] A
KE 3.33
U Enom [V ] 300[V ] V
3.33
TE ( s) 0.5[sec] H E ( s)
1 0.5s
U Gr KUG U G
* 10 3
U G 10[V ] KUG 0. 66
10
15 10 3
U Gr U G*
0.5[V ] 0.5[V ] V
- KiG – is chosen in hypothesis: K iG 8.78 10 5
iGnom [ A] 5691.9[ A] A
KUG =0.66*10-3 C
+
L{UGr}
KiG =8.75*10-5
-
Regulators adjustment will be made based on the module criterium, because of
the perturbations which occur and are of the step type and the desired effect is the
stabilization.
a) Internal loop A
K EE 1.11 1.2362
H ' Ex ( s ) K CCG PC KUE 33.75 0.033
1 TEE s 1 0.1 s 0.1 s 1
1
H ExA ( s ) H ' Ex ( s ) where T 10 2 [sec];
1 T s
1 1 1 (1 0.1 s ) (1 0.1 s )
H RUE ( s )
2T s (1 T s ) H ExA ( s ) 0.02 s (1 0.01 s ) 1.2362
(0.1 s + 1) 1 1
H RUE ( s ) 4.0453 4.045
0.02472 s 0.02475 s 0.025 s
VRUE 4.045 4
A PI controller such that:
TiRUE 0.025[sec]
a) Internal loop B
The transfer function of the interior loop is:
L{U E } H RUE ( s ) K CCG PC H EE ( s )
H1 ( s)
L{c IE } 1 H RUE ( s ) K CCG PC H EE ( s ) KUE
1 0.1s 1.11s 37.46
33.75
H1 ( s) 0.03296s 1 0.1s 0.03296s
1 0.1s 1.11s 33.75 1.11 0.033
1 33.75 0.033 1
0.03296s 1 0.1s 0.03296s
27.3014
H1 ( s)
0.026s 1
B
L{UiEr} KiE =0.01
C
KUG =0.66*10-3
+
L{UGr} KiG =8.75*10-5
-
VRIE 29
TiRIE 0.519[sec] 0.52[sec]
T 0.019[sec] 0.02[sec]
dRIE
c) Internal loop C
The transfer function of the internal loop H2(s) from the simplified block scheme from
the figure is:
L{iE } H RIE ( s ) H 1 ( s ) H E ( s )
H 2 (s)
L{cIE } 1 H RIE ( s ) H 1 H E ( s ) K IE
(1 0.02 s )(1 0.5s ) 27.3014 3.33
H 2 (s) 0.01818s 0.026 s 1 1 0.5s
(1 0.02 s )(1 0.5s ) 27.3014 3.33
1 0.01
0.01818s 0.026 s 1 1 0.5s
100
H 2 (s) `
1 0.0199 s
+
L{UGr}
KiG =8.75*10-5
-
100 1500
H direct ( s ) 15
1 0.02 s 1 0.02 s
L{UGr} 1 4.21s
0.6268 10 3
1 4s
L{ciE} 1 1
HRUG s)(
(1 4 s )(1 0.02s )(1 0.01s )
1
52.91 (1 4 s ) (1 0,02 s )
s (1 4.21s )
1. If it is considered 1 4 s 1 4.21s a PI controller :
(1 0,02 s) 1
H RU G ( s) 52.91 1.05(1 )
s 0,02 s
VR RU G 1.05
Ti RU G 0,02[sec]
Fig. 45
1
R2 1
C2 s R4
H RU G ( s ) H AO1 ( s ) H AO2 ( s ) , where H AO1 ( s ) şi H ( s ) C4 s
1
R1 AO 2
R3
C1 s
1 1
R2 R4
C2 s C4 s C1 ( R C s 1) ( R4 C 4 s 1)
H RU G ( s ) 2 2
1 R3 C 2 C 4 R3 R1 C1 s 1
R1
C1 s
By identification methods
4.21
T1 R1 C1 4.21[sec] ; we choose R1 100 K C1 42F
105
0,02
T2 R2 C 2 0,02[sec] ; we choose R2 100k C 2 0,2 F
10 5
T4 R4 C4 4.02[sec] ; we choose R4 100 K C4 40 F
We choose the condensers from the catalog, E6 condensers, with 6 types, between 1 and
10 and which have standardized values, multiple of 1, 2.2, 3.3, 4.7, 6.8, 10.
0.4
In this way we choose C1=4.7µF R1 85.106 K , but we don’t have a
4.7 10 6
resistance with that value in the catalog so we connect in series R1’= 82KΩ with a
0.02
variable resistance R1”= 4.7KΩ, we choose C2=0.22µF R2 90.909 K
0.22 10 6
and we obtain R2’=85kΩ connected in series with a variable resistance R2”=10kΩ, we
0.52
choose C4=4.7µF R4 6
110 .638 K and we get R4’=110k Ω connected in
4.7 10
series with a variable resistance R4”= 820Ω.
C1 4.7 1
VR 6
40.22 R3 10 6 R3 4.54k which we
C 2 C 4 R3 0,22 4.7 10 R3 0.22
obtain from R3’=4.3kΩ connected in series with the variable resistance R3”=390Ω.