This paper describes the dynamic behavior of hydraulic turbine power control. The water inertia effect is a factor that makes difficult to maintain stability under isolated operation or to have fast response in case of load change in the whole operational range. A nonlinear hydraulic system model is investigated. Linear models for different load conditions using identification procedure are obtained. Two approaches for hydro turbine power control algorithms are studied. They are based on multiple model adaptive control algorithm and gain scheduling technique. The Smith predictor scheme is investigated in order to accelerate the conventional controller action applied to the nonlinear plant model. A multiple model adaptive control system based on the Smith predictor is proposed. Simulation models of the hydro generator control system are created. Surge-free transition between different operational points is accomplished. Simulations with different controllers under different load conditions are carried out in order to explore the system performance.
A modified scheme is proposed for control of MIMO plant using a PID and decoupling matrix. The goal better performance of the closed loop systems and in-creased stability margin. By using a relay experiment an oscillating ultimate frequency is found, when the system is on the verge of instability. Using this estimation one applies a correction, which increases the stability margin of the closed loop system.
A research for the effectiveness of using decoupling matrix for MIMO PID
control is conducted. Approximations of different orders are used for the calculation of the decoupling matrix. The estimation of the effectiveness is measured by a modified criterion.
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