Model predictive control in hydro turbine power control

doctoral thesis

• Title (croatian): Modelsko prediktivno upravljanje u regulaciji snage hidroturbine
• Author: Mateo Beus
• Mentor: Hrvoje Pandžić (mentor)
• Committee member: Hrvoje Pandžić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Energy and Power Systems); Zagreb
• Defense date and country: 2021, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

Hydro turbine governor applications mainly rely on classical Proportional-Integral-Derivative (PID) controllers. The main weakness of classical controllers is their design based on a linear plant model and a fixed parameter scheme. This means that a classical controller can perform optimally only at the operating point chosen during the controller design. However, hydro power plants are highly nonlinear systems, thus alternative control approaches based on adaptive parameters are needed. This research investigates the possibility of applying model predictive controller (MPC) as the load/frequency controller in hydro turbine governors. In the first part of the research the MPC algorithm is validated on the nonlinear simulation model of a laboratory hydro power plant, while in the second part of the research the MPC controller is implemented on a programmable logic controller that is used as a hydro turbine governor in the hydro power plant available in the Smart Grid laboratory at the University of Zagreb Faculty of Electrical Engineering and Computing. Furthermore, MPC controller behavior and practical implementation potential are validated for different operating conditions. Scientific contribution of the thesis consists of the following:
• Model predictive control algorithm for a load/frequency controller of a hydro turbine governor
• Methodology for real-time implementation of model predictive control algorithm using programmable logic controller, as well as an evaluation of MPC algorithm’s practical implementation potential for a load/frequency controller of a hydro turbine governor

Abstract (croatian)

Turbinski regulatori u hidroelektranama uglavnom se temelje na primjeni klasičnih proporcionalno-integracijsko-derivacijskih regulatora. Glavni nedostatak klasičnih regulatora je njihov dizajn baziran na linearnom modelu postrojenja te upotrebi fiksnih parametara regulatora. To znači da klasični regulatori mogu osigurati optimalno ponašanje sustava samo u okolini radne točke za koju su projektirani. Budući da su hidroelektrane izrazito nelinearni sustavi, potrebno je razmotriti alternativne upravljačke pristupe bazirane na primjeni adaptivnih parametara regulatora. Ovo istraživanje istražuje mogućnost primjene modelskog prediktivnog regulatora (MPC) kao regulatora kao regulatora snage unutar turbinske regulacije hidroelektrane. U prvom dijelu istraživanja, MPC algoritam je validiran na nelinearnom simulacijskom modelu laboratorijske hidroelektrane, dok je u drugom dijelu istraživanja MPC algoritam implementiran na programibilni logički kontroler koji se koristi kao turbinski regulator laboratorijske hidroelektrane dostupne u sklopu Laboratorija za napredne elektroenergetske mreže pri Fakultetu elektrotehnike i računarstva Sveučilišta u Zagrebu, te se validiralo njegovo ponašanje i potencijal praktične primjene u različitim pogonskim stanjima. Znanstveni doprinos disertacije sastoji se od sljedećeg:
- Algoritam modelskog prediktivnog regulatora snage u sklopu turbinskog regulatora hidroelektrane
- Metodologija izvedbe u stvarnom vremenu algoritma modelskog prediktivnog upravljanja koristeći programibilni logički kontroler te evaluacija njegovog potencijala za praktičnu primjenu u sklopu turbinskog regulatora hidroelektrane

• Keywords: load frequency control; Pelton turbine; programmable logic controller; model predictive control; hydro turbine governor
• Keywords (croatian): regulacija snage; Pelton turbina; programibilni logiˇcki kontroler; modelsko prediktivno upravljanje; turbinski regulator
• Language: english
• URN:NBN: urn:nbn:hr:168:953422
• Study programme: Title: Doctoral study programme "Electrical Engineering and Computing"; Study programme type: university; Study level: postgraduate; Academic / professional title: doktor/doktorica znanosti, po-dručje tehničkih znanosti (doktor/doktorica znanosti, po-dručje tehničkih znanosti)
• Catalog URL: http://lib.fer.hr/cgi-bin/koha/opac-detail.pl?biblionumber=52610
• Type of resource: Text
• Extent: ix, 84 str.
• File origin: Born digital
• Access conditions: Open access
• Created on: 2022-04-27 11:34:04