design and analysis of comprehensive control system for hydroturbines

Available online at www.sciencedirect.com AASRI Procedia (2012) 230 – 235 $$65,&RQIHUHQFHRQ0RGHOLQJ,GHQWLILFDWLRQDQG&RQWURO 'HVLJQDQG$QDO\VLVRI&RPSUHKHQVLYH&RQWURO6\VWHPIRU +\GURWXUELQHV /LQ/LD5XMLDQ0DD D 6FKRRORI(OHFWULFDO(QJLQHHULQJ8QLYHUVLW\RI-LQDQ-LQDQ&KLQD $EVWUDFW 7KH FRQWURO V\VWHP DQG WKH FKDUDFWHULVWLFV RI WKH WXUELQH JRYHUQRU DUH UHYLHZHG DQG WKH DQDO\VLV LV SURYLGHG EDVHG RQ ZKLFK WKH FRPELQHG FRQWURO PHWKRG LV SURSRVHG 7KH VLPXODWLRQ UHVXOWV VKRZ WKDW WKLV PHWKRG HQDEOHV WKH WXUELQH WR PDLQWDLQ VWDEOH ZRUN LQ D VPRRWK VWDWH VR DV WR VROYH WKH VHYHUH WXUELQH YLEUDWLRQV FDXVHG E\ WXUELQH VSHHG LQVWDELOLW\ 7KHVHYLEUDWLRQVDUHDSWWRFDXVHGDPDJHWRWKHHTXLSPHQWDQGWKHUHFRYHU\ V\VWHPGRHVQRWZRUNSURSHUO\DQGVRRQ 7KXVWKHLQWHJUDWHGFRQWUROPRGHZRXOGNHHSVDIHDQGVWDEOHRSHUDWLRQRIWKHK\GUDXOLFWXUELQHDQGWKHQHQHUJ\UHFRYHU\ V\VWHPVFRXOGUXQHIILFLHQWO\ 3XEOLVKHGE\(OVHYLHU%96HOHFWLRQDQGRUSHHUUHYLHZXQGHUUHVSRQVLELOLW\RI$PHULFDQ$SSOLHG © 2012 The Authors Published by Elsevier B.V Selection and/or peer review under responsibility of American Applied Science Research Institute 6FLHQFH5HVHDUFK,QVWLWXWH H\ZRUGV +\GURWXUELQH6SHHGUHJXODWLRQFRQWURO6LPXODWLRQDQDO\VLV6LQJOHQHXURQDGDSWLYH3,'FRQWUROFRPELQHGFRQWURO ,QWURGXFWLRQ +\GURWXUELQHVKDYHJUHDWVLJQLILFDQFHDVUHF\FOLQJPDFKLQHU\WRUHXVHWKHGRUPDQWPHFKDQLFDODQGNLQHWLF HQHUJ\ LQ UHFHQW \HDUV LQ HQHUJ\ FRQVHUYDWLRQ ORZFDUERQ SURGXFWLRQ VXFK DV VWHHOPDNLQJ SHWUROHXP FKHPLFDODQGRWKHUKHDY\LQGXVWU\ +\GURJHQHUDWRU FRQYHUWHG WKH ZDWHU SRWHQWLDO HQHUJ\ LQWR HOHFWULFDO HQHUJ\ >@ LW LV WKH EDVLF XQLW LQ WKH K\GURSRZHU7KHHQHUJ\TXDOLW\SURGXFHGE\+\GURJHQHUDWRULVGHSHQGHGRQWKHTXDOLW\RIWKHDGMXVWPHQWWR /LQ/L7HO (PDLODGGUHVVOLOLQXMQ#JPDLOFRP 2212-6716 © 2012 The Authors Published by Elsevier B.V Selection and/or peer review under responsibility of American Applied Science Research Institute doi:10.1016/j.aasri.2012.11.038 231 Lin Li and Rujian Ma / AASRI Procedia (2012) 230 –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in Li and Rujian Ma / AASRI Procedia (2012) 230 –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in Li and Rujian Ma / AASRI Procedia (2012) 230 – 235 DPSOLILHGDQGVWUHQJWKHQHG>@E\WKHVLJQDOSURFHVVLQJFLUFXLW7KHIROORZLQJUHTXLUHPHQWV ZRXOGEDVLFDOO\ EHPHWE\WKHFLUFXLWORZQRLVHORZLQSXWRIIVHWYROWDJHDQGLQSXWRIIVHWFXUUHQWORZGULIWVWDEOH JDLQOLQHDUFKDUDFWHULVWLFZHOOKLJKDFFXUDF\XQGLVWRUWHGDPSOLILFDWLRQWUDQVLHQWVLJQDO 6\VWHP6LPXODWLRQ &RPSXWHU VLPXODWLRQ LV RIWHQ DGRSWHG LQ &RPSUHKHQVLYH DQDO\VLV RI WXUELQH UHJXODWLQJ V\VWHP +RZHYHU WKH ZRUNORDG RI VLPXODWLRQ FDOFXODWLRQ SUHSDUDWLRQ DQG GHEXJ SURJUDP LV YHU\ ELJ VWLOO PHDQZKLOH WKH SRUWDELOLW\ RI WKH VLPXODWLRQ SURJUDP LV SRRU LW LV GLIILFXOW WR DGDSW WR WKH K\GURSRZHU SHUVRQDOLW\ FKDUDFWHULVWLFVDQGWKHODFNRIVWURQJJUDSKLFVRXWSXWVXSSRUW0$7/$%LVQRZLQWHUQDWLRQDOIDVKLRQV\VWHP VLPXODWLRQVRIWZDUHLWLVDEOHWRRYHUFRPHWKHDERYHGLIILFXOWLHV 0$7/$%FDQQRWRQO\VROYHWKHPDWUL[DULWKPHWLFSUREOHPVDERXQGLQF\EHUQHWLFV>@EXWDOVRSURYLGHD SRZHUIXOWRROER[VXSSRUW7KHFRQWUROV\VWHPLVGLUHFWO\UHODWHGWRWKHSRSXODUFRQWUROVWUDWHJ\WRROER[VXFK DV UREXVW FRQWURO ȝDQDO\VLV V\QWKHVLV QHXUDO QHWZRUNV PRGHO SUHGLFWLYH FRQWURO QRQOLQHDU FRQWURO GHVLJQ DQGIX]]\ORJLF,WFDQEHVDLGWKDWWKHWKHRU\DQGDZLGHUDQJHRILQGXVWULDODSSOLFDWLRQVDQGUHVHDUFKFRQWURO DOJRULWKPEDVLFDOO\FDQEHIRXQGLQ0$7/$% 6LQJOH QHXURQ DGDSWLYH 3,' FRQWURO PHWKRG LV PRGHOOHG RQ QHXURQV ZRUNIORZ WR DGMXVW WKH VSHHG RI WKH WXUELQHVSHHGFRQWURODGMXVWPHQW>@:KHQWKHUHLVDGLIIHUHQFHEHWZHHQWKHUDWHRIWKHWXUELQHZLWKWKHJLYHQ WDUJHWYDOXHWKHFRQWUROV\VWHPDXWRPDWLFDOO\GRWKHGLIIHUHQFHFDOFXODWLRQLIWKHGLIIHUHQFHLVZLWKLQWKHVDIH UDQJH WKH V\VWHP ZLOO EH GHWHUPLQHG DV WKH QRUPDO V\VWHP ZRUN VDIHW\ UHJXODWRU QRW DFWLRQ %XW WKH GLIIHUHQFHEHWZHHQWKHWZRLVODUJHZKLFKH[FHHGVWKHVDIHUDQJHWKHV\VWHPZLOOEHPDLQWDLQHGQHHGDFWLRQ DWWKLV PRPHQWWKHQWKH V\VWHPVWDUWUHJXODWLQJDVSHFWV>@$IWHUWKH VLQJOHQHXURQDGDSWLYHFRQWUROOHUVHOI RUJDQL]LQJ VHOIFRUUHFWLQJ DFWLRQ VHOIUHJXODWLQJ DGDSWLYH DQG XOWLPDWHO\ WKH V\VWHP WR ILQG WKH RSWLPDO ZRUNLQJFRQGLWLRQDQGWKHQDIWHUFRPSXWLQJFRQWUROVHUYRPRWRURSHQLQJDGMXVWPHQWWKHRSHUDWLRQVRWKDW WKHWXUELQHWRPDLQWDLQWKHUDWHDQGVWDELOLW\LQWKHEHVWZRUNLQJFRQGLWLRQDQDGMXVWPHQWSURFHVVLVRYHU 7KH ZHLJKW FRHIILFLHQW DGMXVWPHQW RI VLQJOH QHXURQ DGDSWLYH FRQWUROOHU LV DFKLHYHG RQ WKH EDVLV RI WKH VXSHUYLVHG+HEEOHDUQLQJUXOHWKHV\VWHPDGRSWGLIIHUHQW OHDUQLQJUDWHVLQDOOXVLRQWRLQWHJUDOSURSRUWLRQDO DQGGHULYDWLYHVRWKDWLWFRXOGDGMXVWE\GLIIHUHQWZHLJKWFRHIILFLHQW.LVWKHQHXURQVSURSRUWLRQFRHIILFLHQW LW LV LPSRUWDQW WR FKRRVH WKH ULJKW YDOXH YDOXH LV VPDOOHU WKH VPDOOHU WKH RYHUVKRRW EXW WKH ORQJHU DGMXVWPHQW WLPH YDOXH LV JUHDWHU >@ WKH EHWWHU WKH UDSLGLW\ PHDQZKLOH WKH ODUJHU WKH RYHUVKRRW ZKLFK FRXOGPDNHWKHV\VWHPXQVWDEOHDWWKHVDPHWLPH.PXVWEHJUHDWHUWKDQ$FFRUGLQJWRWKLVSULQFLSOHVHOHFW WKHDSSURSULDWH.YDOXHVRWKDWWKHFRQWUROV\VWHPWRDFKLHYHWKHEHVWHIIHFWRIWKHDGMXVWPHQW 7KHV\VWHPOLQHDUL]DWLRQPRGHOVKRXOGEHHVWDEOLVKHGEHIRUHWKHWXUELQHVLPXODWLRQWKHLGHDOWXUELQHPRGHO LVVKRZQLQ(TXDWLRQ 7Z * = + 7Z 7KH 7ZLVIORZLQHUWLDOWLPHFRQVWDQW,GHDOPRGHOH[SUHVVLRQLVWRRVLPSOHWRUHIOHFWWKHUHDOVWDWHZKLFK UHGXFHVWKHUHIHUHQFH YDOXHRIWKHVWDELOLW\FDOFXODWLRQUHVXOWV6RWKHFKRLFHLV PDGHEHWZHHQDFFXUDF\DQG VLPSOLILHGFRQWUROOHGREMHFWLVVLPSOLILHGZLWKKLJKRUGHUWUDQVIHUIXQFWLRQZKLFKLVVKRZQLQ(TXDWLRQ H \ H T\ H K H TK H \ 7Z 36 = <6 7\ + H TK 7Z + 7D + H Q 7DLVWKHLQHUWLDOWLPHFRQVWDQW7\LVPDLQUHOD\XQLWWLPHFRQVWDQW>@HKLVWUDQVIHUFRHIILFLHQWRIWKHWXUELQH KHDGH\ LV WUDQVIHU FRHIILFLHQW RI WKH WXUELQH WRUTXH RQ WKH JXLGH YDQH RSHQLQJHQ LV WXUELQHVHOIDGMXVWPHQW 233 234 Lin Li and Rujian Ma / AASRI Procedia (2012) 230 – 235 IDFWRUHT\ LV WKH WUDQVIHU FRHIILFLHQW RI 7XUELQH IORZ WR JXLGH YDQH RSHQLQJHTK LV WUDQVIHU FRHIILFLHQW RI WKH WXUELQHIORZWRGLVFKDUJHKHDG 6HOHFWLQJDK\GURSRZHUVWDWLRQWXUELQHDVDFTXLVLWLRQREMHFWLWVZRUNLQJSDUDPHWHUVDUHVKRZQLQ7DEOH 7DEOH7KHWXUELQHZRUNLQJSDUDPHWHUV 0RGHO 2SHUDWLQJSRLQWV SDUDPHWHUV $ % & *XLGHYDQHRSHQLQJɚ 7@5HQQLDQ/L&RQJ[LQ@ ;LKH -LD %DROLDQJ 3DQ@.\XQJ1DP/HH@$EGXONDGLU&HYLN,EUDQLP+*X]HOEH\$VRIWFRPSXWLQJEDVHGDSSURDFKIRUWKHSUHGLFWLRQRIXOWLPDWH VWUHQJWKRIPHWDOLQFRPSUHVVLRQ(QJLQHHULQJ6WUXFWXUHV >@ 7LDQER 3HQJ +\GUR WXUELQH JRYHUQLQJ V\VWHP PRGHOLQJ SDUDPHWHUV WHVWLQJ WKHRU\ DQG DSSOLFDWLRQ UHVHDUFK0HFKDQLFDODQG(OHFWULFDORI+\GURSRZHU6WDWLRQ9RO1R$XJ 235 ...231 Lin Li and Rujian Ma / AASRI Procedia (2012) 230 – 235 LW7KHWDVNRIUHJXODWLQJWXUELQHLVGRQHEWKHWXUELQHJRYHUQRU*RYHUQRUFKDQJHLQDGHJUHHRIRSHQLQJRI... HIIHFWLYH DQG PRVW FRPPRQO DGYDQFHG FRQWURO PHWKRG XVHG LQ WKH WXUELQH 232 Lin Li and Rujian Ma / AASRI Procedia (2012) 230 – 235 UHJXODWLRQ VVWHPV 7KH PHWKRG FDQ FRPSOHWH... WXUELQHVSHHGWKHDODUPVVWHPZLOODXWRPDWLFDOOVWRSWKHZDUQLQJ7KHDODUPGHYLFHVDUHFRQQHFWHGZLWKSOF PLFURFRQWUROOHULQPDMRULWRIWKHH[LVWLQJZDWHUWXUELQHFRQWUROVVWHPV+RZHYHUWKHVSHHGDODUPGHYLFHLV