Model hydraulic turbine and proportional-integral-derivative (PID) governor system
The Hydraulic Turbine and Governor block implements a nonlinear hydraulic turbine model, a PID governor system, and a servomotor .
The hydraulic turbine is modeled by the following nonlinear system.
The gate servomotor is modeled by a second-order system.
The gain Ka and time constant Ta, in seconds (s), of the first-order
system representing the servomotor. Default is
[ 10/3 0.07
The limits gmin and gmax (pu) imposed on the gate opening, and
vgmin and vgmax (pu/s) imposed on gate speed. Default is
0.01 0.97518 -0.1 0.1 ].
The static gain of the governor is equal to the inverse of the
permanent droop Rp in the feedback loop. The PID regulator has a proportional
gain Kp, an integral gain Ki, and a derivative
gain Kd. The high-frequency gain of the PID is limited by a first-order
low-pass filter with time constant Td (s). Default
[ 0.05 1.163 0.105 0 0.01 ].
The speed deviation damping coefficient β and water starting
time Tw (s). Default is
[ 0 2.67 ].
Specifies the input of the feedback loop: gate position (set
to 1) or electrical power deviation (set to 0). Default is
The initial mechanical power Pm0 (pu) at the machine's shaft.
This value is automatically updated by the load flow utility of the
Powergui block. Default is
Reference speed, in pu.
Reference mechanical power in pu. This input can be left unconnected if you want to use the gate position as input to the feedback loop instead of the power deviation.
Machine actual speed, in pu.
Machine actual electrical power in pu. This input can be left unconnected if you want to use the gate position as input to the feedback loop instead of the power deviation.
Speed deviation, in pu.
Mechanical power Pm for the Synchronous Machine block, in pu.
Gate opening, in pu.
illustrates the use of the Synchronous Machine associated with the
Hydraulic Turbine and Governor (HTG) and Excitation System blocks.
 IEEE Working Group on Prime Mover and Energy Supply Models for System Dynamic Performance Studies, “Hydraulic Turbine and Turbine Control Models for Dynamic Studies,” IEEE® Transactions on Power Systems, Vol. 7, No. 1, February, 1992, pp. 167-179.