Hydraulic-turbine start-up with "S-shaped" characteristic
نویسندگان
چکیده
Fast response of hydraulic turbines is a key condition for the integration of renewable sources of energy. In this paper, a new start-up strategy is proposed for hydraulic turbines prone to ”S” instability. This method is based on a complete nonlinear model of the turbine together with the upstream water pipe. More precisely, the control strategy is based on a gain scheduling approach that is computed using finite horizon predictive control. This yields a state feedback control law that tracks a time-optimal trajectory that is computed based on the nonlinear model of the system. Simulations are shown to assess the efficiency of the proposed law and its robustness to model discrepancies. Nomenclature Symbol Definition Unit H net head/pressure at the bounds of the turbine m Q flow in the turbine m3/s W rotational speed of the turbine rd/s g guide vanes’ opening % T hydraulic torque on the runner N.m te wave travel time in penstock s tw water starting time in penstock s x state space vector for the penstock Hg gross head of the plant (constant) > 100m xd desired steady state value of x D diameter of the runner m
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