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Kujang - Training Module - 505
Kujang - Training Module - 505
INTRODUCTION TRAINING
505 Product Family
• 8200-1300 -505 LV, Standard Compliance
• 8200-1301 -505 LV, Full Compliance
• 8200-1302 -505 HV, Standard Compliance
• 8200-1310 -505XT LV, Standard Compliance
• 8200-1311 -505XT LV, Full Compliance
• 8200-1312 -505XT HV, Standard Compliance
In addition to the control loops mentioned, the 505XT also provides the following features:
• First-Out Trip indication of Alarm and Trip events with time stamp
• 15 External DI trip inputs and 15 External Alarm DI inputs
• Critical Speed Avoidance (3 speed bands)
• Auto Start Sequence (hot & cold starts) with Temperature Input options
• Dual Speed/Load Dynamics with automatic Optimization tuning of dynamic gains
• A third set of speed dynamics for Ext/Adm units when operating in Ratio Limiter control modes
• Zero Speed Detection, Peak Speed Indication, and Direction of Rotation
• Load Droop and Isochronous Load sharing between units (with an DSLC-2 control)
• Feed-forward loop for compressor units
• High speed (10ms) datalog and Slow speed (1 sec) trendlog capture files
• SNTP time synchronization via an Ethernet IP
• Ability to expand system I/O with Woodward Linknet Distributed I/O nodes
• Multiple digital communication links to other Woodward products (Woodward Links)
505 System Overview
HARDWARE SPECIFICATION
INPUT POWER
HARDWARE SPECIFICATION
SPEED SENSOR: MPU/PROXIMITY
HARDWARE SPECIFICATION
ANALOG INPUT
HARDWARE SPECIFICATION
ANALOG OUTPUT
HARDWARE SPECIFICATION
ACTUATOR OUTPUT
HARDWARE SPECIFICATION
DISCRETE INPUT
HARDWARE SPECIFICATION
RELAY OUTPUT
Power-up & Initialization
• At initial Power-up Screen = BLANK /BLACK
IOLOCK = RED
(24 VDC units have a 5 second delay)
• After about 1:00 Screen = “505 Splash” Screen
TRIPPED/CPU/ALARM LED’s will flash check
• After about 1:10 TRIPPED =ON (RED) (GAP –> Power-up Trip)
IOLOCK = OFF
CPU = ON (GREEN)
• After about 1:30 ALARM LED (YELLOW)
Flashes/Blinks
• After about 2:40 Screen = HOME
• After about 4:40 Screen = HOME (for 505XT)
The CPU and IOLOCK LED’s on the Front & Back will always show the same
indication.
Initial Home Screen
Operator Control Panel Overview
Modes of Operation
•Monitor
•Operation
•Operation & Dynamic Tune
•Configure
Engineering Station Capabilities
•I/O and system troubleshooting
•Configure and Trigger datalog & trendlog
•Set Ethernet Port TCP/IP addresses
•Setup unique Site information and device tag identifiers for I/O signals
HMI Capabilities Include:
•Automatic screen generation based on control configuration
•Security with multiple password levels
•Real-time and historical trending
•Alarm/trip status indication
•Alarm/trip log with time tagging and first-out indication
•Graphic system control screens
•Event status logging and history
User Login/Mode
Configuration Menu Background
Blue gradient
•In Configuration mode
•Unit in IOLOCK
•Config Check
•Edit settings
•Save Settings
4. Open Trip & Throttle valve to 100% Speed remains controlled at the minimum controlling point until action is taken by the operator
or the ‘Auto Start Sequence’, if programmed, begins controlling.
Note: The ‘Limiter Max Limit’, ‘Valve Limiter Rate’ and ‘Rate To Min’ settings are tunable in the Service mode.
The trip-and-throttle valve must be closed before pushing the ‘RUN’ key
in Manual Start mode. If a START command is given while the trip-andthrottle
valve is open, there exists a possibility of turbine runaway with
resultant serious injury or loss of life.
Turbine Start Procedure
Semiautomatic Start Mode The following start-up procedure is employed when the
Semiautomatic start mode is configured:
1. Issue a RESET command (to reset all alarms and shutdowns).
The LP demand and LP Limiter behavior is determined by the
turbine type, for Extraction Only: The LP Limiter will ramp to 100%
2. Open the Trip & Throttle valve (verify that the turbine does not
accelerate)
3. Issue a START command At this point, the speed set point will
ramp from zero to the minimum controlling speed setting at the
‘Rate to Min’ rate.
4. Raise the 505’s VALVE LIMITER at a controlled rate. When turbine
speed increases to the minimum controlling speed, the 505’s Speed
PID will take control of turbine speed by controlling turbine inlet valve
position.
5. Raise 505’s VALVE LIMITER to 100%.Speed remains controlled at
the minimum controlling point until action is taken by the operator or
the ‘AUTO START SEQUENCE’, if programmed, begins controlling.
Note:
The valve limiter will open at the ‘Valve Limiter Rate’ and may be moved using the 505 keypad, external contacts or Modbus
communications. The ‘Limiter Max Limit’, ‘Valve Limiter Rate’ and ‘Rate To Min’ settings are tunable in the Service mode.
The trip-and-throttle valve must be closed before pushing the ‘RUN’ key
in Manual Start mode. If a START command is given while the trip-and throttle
valve is open, there exists a possibility of turbine runaway with
resultant serious injury or loss of life.
Turbine Start Procedure
Automatic Start Mode The following start-up procedure is employed when the Automatic
start mode is configured:
1. Issue a RESET command (to reset all alarms and shutdowns).
The LP demand and LP Limiter behavior is determined by the turbine
type, for Extraction Only: The LP Limiter will ramp to 100%
2. Open the Trip & Throttle valve (verify that the turbine does not
accelerate)
3. Issue a START command as specific below:
• At this point the 505 will ramp open the governor valve to its “HP
Max at Start” setting at the ‘Valve
• Limiter Rate’ setting.
• The speed set point will ramp from zero to the minimum
controlling speed setting at the ‘Rate to MIN’ rate.
• When turbine speed increases and matches the ramping speed
set point, the 505’s Speed PID will take control of turbine speed by
controlling turbine inlet valve position.
• · Speed remains controlled at the minimum controlling point until action is taken by the operator
• · Once the Speed PID begins controlling turbine speed, the HP Limiter will automatically ramp to the Vlv Lmtr Max Limt’.
Note: Optionally the ‘HP Max at Start’ and ‘Vlv Lmtr Max Limt’, ‘Valve Limiter Rate’ and ‘Rate To Min’ settings can be adjusted in the
Service mode, while the turbine is in operation. The automatic start routine may be aborted at any time by issuing valve limiter raise
or lower commands, or an emergency shutdown.
The trip-and-throttle valve must be closed before pushing the ‘RUN’ key
in Manual Start mode. If a START command is given while the trip-and throttle
valve is open, there exists a possibility of turbine runaway with
resultant serious injury or loss of life.
Turbine Start Procedure
Automatic Start Mode The following start-up procedure is employed when the Automatic
start mode is configured:
1. Issue a RESET command (to reset all alarms and shutdowns).
The LP demand and LP Limiter behavior is determined by the turbine
type, for Extraction Only: The LP Limiter will ramp to 100%
2. Open the Trip & Throttle valve (verify that the turbine does not
accelerate)
3. Issue a START command as specific below:
• At this point the 505 will ramp open the governor valve to its “HP
Max at Start” setting at the ‘Valve
• Limiter Rate’ setting.
• The speed set point will ramp from zero to the minimum
controlling speed setting at the ‘Rate to MIN’ rate.
• When turbine speed increases and matches the ramping speed
set point, the 505’s Speed PID will take control of turbine speed by
controlling turbine inlet valve position.
• · Speed remains controlled at the minimum controlling point until action is taken by the operator
• · Once the Speed PID begins controlling turbine speed, the HP Limiter will automatically ramp to the Vlv Lmtr Max Limt’.
Note: Optionally the ‘HP Max at Start’ and ‘Vlv Lmtr Max Limt’, ‘Valve Limiter Rate’ and ‘Rate To Min’ settings can be adjusted in the
Service mode, while the turbine is in operation. The automatic start routine may be aborted at any time by issuing valve limiter raise
or lower commands, or an emergency shutdown.
The trip-and-throttle valve must be closed before pushing the ‘RUN’ key
in Manual Start mode. If a START command is given while the trip-and throttle
valve is open, there exists a possibility of turbine runaway with
resultant serious injury or loss of life.
PID TUNING AND ADJUSMENT
The Speed, Cascade, Auxiliary (1 & 2), and Acceleration controls utilize PID controllers. The response of each
control loop can be adjusted for optimum response, however it is important to understand what a PID
controller is and the effect each controller adjustment has on the controller response to match the response of
the control loop with the response of the system.
Proportional Control
Proportional response is directly proportional to a process change. Analogy: Setting hand throttle to keep constant
speed on straight and level. The results in a certain speed as long as the car is not subjected to any load change
such as a hill. If a throttle is set to any particular setting, the speed of the car will remain constant as long as the
car remains straight and level. If the car goes up a hill, it will slow down. Of course, going down a hill the car
would gain speed. Proportional gain must be tuned to best respond to a system transient or step change. If
system response is not known, a typical starting value is 5%. If proportional gain is set too high the control will
appear to be overly sensitive, and may oscillate with a cycle time of less than 1 second.
Integral Control
Integral compensates for process and setpoint load changes. Analogy: Cruise control maintains constant speed
regardless of hills. Integral, (sometimes called reset) provides additional action to the original proportional
response as long as the process variable remains away from the setpoint. Integral is a function of the magnitude
and duration of the deviation. In this analogy, the reset response would keep the car speed constant regardless
of the terrain. Integral gain must be tuned for best control at steady state. If system response is not known a
typical starting value is 5%. If the integral gain is set too high the control may hunt or oscillate at cycle times of
over 1 second.
PID TUNING AND ADJUSMENT
Derivative
Derivative provides a temporary over-correction to compensate for long transfer lags and reduce
stabilization time on process upsets (momentary disturbances). Analogy: Accelerating into high-speed lane
with merging traffic. Derivative, sometimes called “preact” or “rate”, is very difficult to draw an accurate
analogy to, because the action takes place only when the process changes and is directly related to the speed
at which the process changes. Merging into high-speed traffic of a freeway from an “on” ramp is no easy task
and requires accelerated correction (temporary overcorrection) in both increasing and decreasing directions.
The application of brakes to fall behind the car in the first continuous lane or passing gear to get ahead of
the car in the first continuous lane is derivative action.
Tuning Example
If the system is unstable, make sure the governor is the cause. This can be checked by closing the valve limiter
until it has control of the actuator output. If the governor is causing the oscillation, time the oscillation cycle time.
A rule-of–thumb is, if the system’s oscillation cycle time is less than 1 second reduce the Proportional gain term.
A rule-of-thumb is, if the system’s oscillation cycle time is greater the one-second reduce the Integral gain term
(proportional gain may need to increase). On an initial startup with the 505, all PID dynamic gain terms will
require adjustment to match the respective PID’s response to that of its control loop. There are multiple dynamic
tuning methods available that can be used with the 505’s PIDs to assist in determining the gain terms that
provide optimum control loop response times.
PID TUNING AND ADJUSMENT
The following method can be used to achieve PID gain values that are close to optimum:
1. Increase Derivative Ratio (SDR) to 100 (Service Mode adjustment)
2. Reduce integral gain to 0.01 (Run Mode adjustment)
3. Increase proportional gain until system just starts to oscillate (Run Mode).The optimum gain for this step is when the
system just starts to oscillate and maintains a self-sustaining oscillation that does not increase or decrease in magnitude.
4. Record the critical gain (Kc) and oscillation period (T) in seconds.
5. Set the dynamics as follows:
For PI control: G=P(I/s + 1)
Set: Proportional gain = 0.45*Kc
Integral gain = 1.2/T
Derivative ratio = 100
For PID control: G=P(I/s + 1 + Ds)
Set: Proportional gain = 0.35*Kc
Integral gain = 0.76/T
Deriv ratio = (5.2*T)/Integral Gain for fdbk dominant
= (0.19*Integral Gain)/T for input dominant
This method of tuning will get the gain settings close;
they can be fine-tuned from this point.
The Ext/Adm PID controller is used to control the Extraction or Admission Steam pressure or flow. This is only used on Extraction
or Admission types of turbines. The output of this controller is known as the P demand. This value is passed to the Ratio Limiter
logic that also receives the speed PID output known as the S demand. Using the entered steam performance map data, the Ratio
Limiter produces appropriate demands for the HP and LP valves.The Ext/Adm set point is adjustable with raise or lower commands
through the 505 front keypad, through remote contact inputs or through Modbus. In addition, an analog input can be programmed
to remotely position the Ext/Adm set point.
Typically a turbine is controlling speed/load at a rated speed setting and is loaded to a minimum load point before extraction control
is enabled. After a startup, the HP and LP valve limiters should normally both be fully open. If the HP valve limiter is not fully
opened, it will act as a speed/load limiter and will interfere with automatic governor operation.
505XT: Extraction Control
The Ext/Adm PID controller is used to control the Extraction or Admission Steam pressure or flow. This is only used on Extraction
or Admission types of turbines. The output of this controller is known as the P demand. This value is passed to the Ratio Limiter
logic that also receives the speed PID output known as the S demand. Using the entered steam performance map data, the Ratio
Limiter produces appropriate demands for the HP and LP valves.The Ext/Adm set point is adjustable with raise or lower commands
through the 505 front keypad, through remote contact inputs or through Modbus. In addition, an analog input can be programmed
to remotely position the Ext/Adm set point.
Typically a turbine is controlling speed/load at a rated speed setting and is loaded to a minimum load point before extraction control
is enabled. After a startup, the HP and LP valve limiters should normally both be fully open. If the HP valve limiter is not fully
opened, it will act as a speed/load limiter and will interfere with automatic governor operation.
505XT: Extraction Control
The Extraction and/or Admission
enable permissives are:
Extr/Adm input not failed
Turbine speed above
programmed permissive speed
Gen breaker closed (if
configured)
Tie breaker closed (if
configured)
Adm or Extr/Adm Enabling procedure: During this operation, the following actions will take place:
1. Verify that all “Extr/Adm enable permissives” are met (listed LP Valve Limiter will ramp closed from 100% to 0%
above). This will cause the load to decrease
2. Match the Extr/Adm setpoint to that of the pressure on the Speed PID control will increase demand to compensate for
plant side of the Extr/Adm T&T valve. (Skip load loss
this step if Setpoint Tracking is used.) When disabling Ext/Adm the opposite actions will take place:
3. Vary the Extr/Adm Demand setpoint to match the turbine’s LP Valve Limiter will ramp open from 0% to 100%
internal Extr/Adm pressure to that of the This will cause the load to increase
pressure on the plant side of the Ext/Adm T&T valve. Speed PID control will decrease demand to compensate for
4. Open the Extr/Adm Trip-and-Throttle valve. load loss
5. Enable Adm or Extr/Adm control.
505XT: Steam Performance Map
The steam map is a graphical representation of the operating range and limitations of an extraction and/or admission steam
turbine. This map is often called a steam envelope, since normal turbine operation must be contained within the envelope lines.
The 505E uses the values programmed to calculate the turbine’s internal pressure ratios and limits. In order to get these values
from your steam map, you must first check the following conditions and, if necessary, modify the map so it meets these
conditions:
• The map must be linear (all lines straight).
• Lines extraction/admission flow = 0% and extraction/admission flow =100%
must be parallel, and lines LP valve = 0% and LP valve = 100% must be
parallel.
The lines on the envelope define the operating characteristics of your turbine.
Refer to the example steam maps in this manual. The different lines or limits of
a Steam map are:
The horizontal axis shows turbine power (S).
The vertical axis shows HP valve position (HP).
The vertical line called S=100 is the maximum power limiter. This limiter
prevents turbine operation beyond the maximum power limit.
The horizontal line called HP=100 is the maximum HP flow limiter. The HP
flow limiter prevents turbine operation beyond the desired maximum HP flow
limit.
The parallel lines called P=0 and P=100 define the extraction/admission flow
range (from no flow or maximum admission flow to maximum extraction flow).
The “P” term is used to represent pressure demand.
The parallel lines called LP=0 and LP=100 define the LP valve position range
(from closed to 100% open).
505XT: Steam Performance Map
Before a turbine’s extraction steam map can be programmed into the
control, it must have the intersection points A, B, & C (refer to Figure 3-22).
• Typically Point C the intersection of the LP=O line and the P=0 line does
not exist. If this is the case it will be necessary to convert your steam
map. The only conversion necessary is the extension of the LP=0
• line and the P=0 line until they cross or intersect. This point where the
LP=0 line intersects the P=0 line is defined as Point C, and is required by
the control to calculate the turbine’s internal pressure ratios and limits.
• The eight values needed can be taken from the converted steam map.
As an example, the following data was derived, using the steam map in
left side.
• The MAX POWER value is the load where the S=100 line crosses the s-
axis (about 20 000 kW in our example).
• The MAX HP FLOW value is the flow where the HP=100 line crosses the
HP-axis (about 108 000 lb/h; 48 989 kg/h).
• Point A is where the P=0 and LP=100 lines intersect (MAX POWER @
MIN EXTRACTION = about 15062 kW; HP FLOW @ MIN EXTRACTION
= about 36 000 lb/h; 16 330 kg/h).
• Point B is where the LP=0 and P=100 lines intersect (MIN POWER @
MAX EXTRACTION = about 3623 kW; HP FLOW @ MAX EXTRACTION
= about 86 000 lb/h; 39 010 kg/h).
• Point C is where the LP=0 and P=0 lines intersect (MIN POWER @ MIN
EXTRACTION = about –3000 kW; MIN HP FLOW @ MIN EXTRACTION
= about 6000 lb/h; 2722 kg/h).
505XT: Steam Performance Map
Before a turbine’s extraction steam map can be programmed into the
control, it must have the intersection points A, B, & C (refer to Figure 3-22).
• Typically Point C the intersection of the LP=O line and the P=0 line does
not exist. If this is the case it will be necessary to convert your steam
map. The only conversion necessary is the extension of the LP=0
• line and the P=0 line until they cross or intersect. This point where the
LP=0 line intersects the P=0 line is defined as Point C, and is required by
the control to calculate the turbine’s internal pressure ratios and limits.
• The eight values needed can be taken from the converted steam map.
As an example, the following data was derived, using the steam map in
left side.
• The MAX POWER value is the load where the S=100 line crosses the s-
axis (about 20 000 kW in our example).
• The MAX HP FLOW value is the flow where the HP=100 line crosses the
HP-axis (about 108 000 lb/h; 48 989 kg/h).
• Point A is where the P=0 and LP=100 lines intersect (MAX POWER @
MIN EXTRACTION = about 15062 kW; HP FLOW @ MIN EXTRACTION
= about 36 000 lb/h; 16 330 kg/h).
• Point B is where the LP=0 and P=100 lines intersect (MIN POWER @
MAX EXTRACTION = about 3623 kW; HP FLOW @ MAX EXTRACTION
= about 86 000 lb/h; 39 010 kg/h).
• Point C is where the LP=0 and P=0 lines intersect (MIN POWER @ MIN
EXTRACTION = about –3000 kW; MIN HP FLOW @ MIN EXTRACTION
= about 6000 lb/h; 2722 kg/h).
Overspeed Test Function
The 505’s Overspeed Test function allows an operator to increase
turbine speed above its rated operating range to periodically test
turbine electrical and/or mechanical overspeed protection logic and
circuitry. This includes the 505’s internal overspeed trip logic and any
external overspeed trip device’s settings and logic.
• The engine, turbine, or other type of prime mover should be equipped with
an overspeed shutdown device to protect against runaway or damage to the
prime mover with possible personal injury, loss of life, or property damage.
• The overspeed shutdown device must be totally independent of the prime
mover control system. An overtemperature or overpressure shutdown
device may also be needed for safety, as appropriate.
Overspeed Test Function