Hydraulic Turbine and Governor

(To be removed) Model hydraulic turbine and proportional-integral-derivative (PID) governor system

The Specialized Power Systems library will be removed in R2026a. Use the Simscape™ Electrical™ blocks and functions instead. For more information on updating your models, see Upgrade Specialized Power System Models to use Simscape Electrical Blocks.

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Libraries:
Simscape / Electrical / Specialized Power Systems / Electrical Machines / Synchronous Machine Control

Description

The Hydraulic Turbine and Governor block implements a nonlinear hydraulic turbine model, a PID governor system, and a servomotor [1].

The hydraulic turbine is modeled by the following nonlinear system.

The gate servomotor is modeled by a second-order system.

Ports

Input

wref — Reference speed

scalar

Reference speed, in pu.

Pref — Reference mechanical power

scalar

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.

we — Machine actual speed

scalar

Machine actual speed, in pu.

Pe0 — Machine actual electrical power

scalar

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.

dw — Speed deviation

scalar

Speed deviation, in pu.

Output

Pm — Mechanical power

scalar

Mechanical power Pm for the Synchronous Machine block, in pu.

gate — Gate opening

scalar

Gate opening, in pu.

Parameters

To edit block parameters interactively, use the Property Inspector. From the Simulink^® Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Servo-motor [ Ka() Ta(sec) ] — Gain and time constant of first-order system

[ 10/3 0.07 ] (default) | vector of two positive elements

Gain Ka and time constant Ta, in seconds (s), of the first-order system representing the servomotor.

Gate opening limits [ gmin,gmax(pu) vgmin,vgmax(pu/s) ] — Gate opening limits

[ 0.01 0.97518 -0.1 0.1 ] (default) | vector of four elements

Limits gmin and gmax (pu) imposed on the gate opening, and vgmin and vgmax (pu/s) imposed on gate speed.

Permanent droop and regulator [ Rp() Kp() Ki() Kd() Td(s) ] — Permanent droop and regulator

[ 0.05 1.163 0.105 0 0.01 ] (default) | vector of five nonnegative elements

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).

Hydraulic turbine [ beta() Tw(sec) ] — Speed deviation damping coefficient and water starting time

[ 0 2.67 ] (default) | vector of two nonnegative elements

Speed deviation damping coefficient β and water starting time Tw (s).

Droop reference (0=power error, 1=gate opening) — Input of feedback loop

0 (default) | 1

Input of the feedback loop: gate position (1) or electrical power deviation (0).

Initial mechanical power (pu) — Initial mechanical power at machine shaft

0.7516 (default) | nonnegative scalar

Initial mechanical power Pm0 (pu) at the machine shaft. This value is automatically updated by the load flow utility of the Powergui block.

References

[1] 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.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced before R2006a