Dr. K.V.
Vidyanandan
AGM & Sr. Faculty Member (PMI)
kvvidyas@[Link]
Introduction to Governing System
Need of Load Frequency Controls
Importance of Inertia
Governor Droop
TSR and Dead-band
Frequency deviation from nominal value (50Hz) represents
mismatch between generation (supply) and load (demand).
Dr. K.V. Vidyanandan
kvvidyas@[Link]
WHY SPEED DROPS AS LOAD INCREASES ?
When there is an increase in system load, due to the inherent
mechanical delay, the governor cannot act instantaneously.
In order to meet the extra demand, kinetic energy of the
rotating mass is released and there by machine speed reduces.
The deviation in speed () is used to activate the governor to
open the CV further and the increased steam flow arrests the
speed drop.
The steady state speed after the load increase will be less than
the nominal value.
The magnitude of deceleration depends upon the quantity of
the power mismatch and
the inertia of the turbine-generator.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
NEED OF CONSTANT FREQUENCY
For satisfactory operation of the power system, the frequency
should remain close to nominal value (50/60 Hz)
This will ensure constancy of speed of induction motors
Variation in frequency will affect the performance of equipments
and can interfere with system protection schemes
Considerable drop in frequency will result in high magnetising
currents in motors and transformers
Dr. K.V. Vidyanandan
kvvidyas@[Link]
IMPACTS OF FREQUENCY
DEVIATION IN POWER PLANTS
Most of the turbine generators must have frequency regulated to
avoid mechanical resonances. If a rotating machine spins at or near
one of its resonant modes, mechanical vibration damage can occur.
Manufacturers design their machine's resonant frequencies to be
far away from the intended frequency of operation, so this is not
typically a concern unless frequency deviates more than 5%.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
IMPACTS OF FREQUENCY DEVIATION
LOAD IMPACTS
Poor power system frequency control can degrade power quality.
Most industrial processes which require a high precision reduce
their risk by using variable frequency drives (VFD).
Most VFDs are insensitive to supply frequency, and they precisely
regulates the output frequency. Thus systems using VFD are
insensitive to small deviations in power system frequency.
Converters used to rectify the AC source are not frequency
sensitive in the range of 5%.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
FREQUENCY AS A
SYSTEM HEALTH INDICATOR
Frequency provides an indication of the interconnected systems
generation-load balance.
It is instantly available everywhere within the interconnection
without the need for additional communications.
This facilitates dispersed, autonomous response to system
casualties by generators and loads.
Assuming that all control systems such as AGC and speed
governors are working correctly, a low system frequency is
indicative of a low generation reserve.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
PROCESS OF ENERGY CONVERSION
Primary source of electrical energy supplied by utilities are the
Kinetic Energy of water and steam
Prime movers convert the kinetic energy into shaft work
This is in turn converted into electrical energy by Synchronous
Generators
Prime mover governing systems provide a means of controlling
power generated and frequency, a function generally called as Load
Frequency Control (LFC) or Automatic Generation Control (AGC).
Dr. K.V. Vidyanandan
kvvidyas@[Link]
AUTOMATIC GENERATION CONTROL
Functions of AGC are:
To maintain power balance in the system.
To make sure that operating limits are not exceeded in the
Generators
Tie-lines
To maintain the system frequency constant under all conditions
Dr. K.V. Vidyanandan
kvvidyas@[Link]
COMPONENTS OF AGC
Primary control
Immediate (automatic) action to sudden change of load,
for example, reaction to frequency change.
Secondary control
To bring tie-line flows to scheduled.
Corrective actions are done by operators.
Economic dispatch
Make sure that the units are scheduled in the most
economical way.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
FUNDAMENTAL QUESTIONS
Is it always necessary that
load variation results in frequency variation..?
Under what situation load variation results in
frequency variation..?
Why frequency variation occur with load change..?
Dr. K.V. Vidyanandan
kvvidyas@[Link]
BLOCK DIAGRAM OF
GENERATION AND CONTROL SYSTEM
Dr. K.V. Vidyanandan
kvvidyas@[Link]
GOVERNING SYSTEM
The engineering of Governing System is a combination of
Mechanical-Hydraulic System
Electrical Power System
Control System
Dr. K.V. Vidyanandan
kvvidyas@[Link]
GOVERNOR FUNCTIONS
The main functions of governing system for steam turbines are:
Speed (frequency) and load (power) control:
mainly through HPCV
Overspeed control: mainly through the IV
Overspeed trip: through HPSV and IPSV
Start-up and shutdown control
Dr. K.V. Vidyanandan
kvvidyas@[Link]
FEATURES OF SPEED GOVERNOR
All governors must have five fundamental features :
1. A way to set the desired speed
2. A way to sense actual speed
3. A way to compare the actual speed to the desired speed
4. A way for the governor to change steam flow to the turbine
5. A way to stabilize the rotor speed after a load change
Dr. K.V. Vidyanandan
kvvidyas@[Link]
GOVERNOR ACTION
Operator
Desired
Speed
Controller
Deviation
Negative
(Balancing)
Feedback
Governor
Feedback Loop
Turbine
Actual
Speed
Sensor
Dr. K.V. Vidyanandan
kvvidyas@[Link]
Steam
Supply
Actuator
GOVERNOR ACTION
STEAM
CONTROL
VALVE
TURBINE
GEN
When turbine speed deviates from the set value, governor
action modulates the control valve to regulate the steam flow.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
HYDRO POWER GENERATION
Dr. K.V. Vidyanandan
kvvidyas@[Link]
HYDRO TURBINE GOVERNOR
In hydro turbines, due to water inertia, a change in gate position
produces an initial turbine power change which is opposite to
that sought. This is because flow will not establish immediately.
For stable control performance, a large transient (temporary
droop) with a long resetting time is required.
A gain reduction compensation retards the gate movement until
the water flow and power output have time to catch up.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
TYPES OF TURBINE GOVERNORS
Mechanical
Electro Mechanical
Hydraulic
Electro Hydraulic
MECHANICAL
Speed transducer is mechanical centrifugal type speed governor,
which directly actuates control valves through mechanical linkages.
ELECTRO MECHANICAL
Mechanical centrifugal type speed governor is connected to
hydraulic system either mechanically or hydraulically.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
TYPES OF TURBINE GOVERNORS
HYDRAULIC
Speed transducer is a centrifugal pump whose discharge pressure is
a function of machine speed. This signal is sent to a hydraulic
converter, to generate a high power hydraulic signal for the
operation of different control valves or gate.
ELECTRO HYDRAULIC
Electronic Transducer is used for measuring the machine speed.
This signal is processed electronically and then sends to an Electro
Hydraulic Converter for converting the electronic signals into
proportional hydraulic signals
forVidyanandan
the operation of control valves.
Dr. K.V.
kvvidyas@[Link]
METHODS OF GOVERNOR CONTROL
Throttle Governing
Nozzle Governing
By-pass Governing
THROTTLE GOVERNING
In this method of governing, steam is throttled to a suitable pressure
using one or more sets of throttle valves (control valves). All these
valves operate simultaneously and the throttle control is achieved
usually by controlling the steam admission to the HP cylinder. Arc of
steam admission in this governing method is 3600.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
METHODS OF GOVERNOR CONTROL
NOZZLE GOVERNING
Various groups of Nozzles with suitable isolating valves are used
for regulating the steam flow to the turbine. These nozzles are
grouped in 2, 3, 4 or more and their operation is done
sequentially. These nozzle groups achieve control by regulating
the steam flow to the first stage of HP cylinder. Arc of steam
admission in this method is < 1800.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
HYDRO TURBINE GOVERNOR FEATURES
Hydraulic turbines can be modelled by a first-order model if
water hammer (wave) and surge effects are neglected.
Second-order models for hydraulic turbines with water hammer
effect in the penstock are considered
The speed controller of the hydro turbine governor has a
permanent droop and a transient droop.
Reversible hydraulic machines are used for pump-storage plants.
Optimal pumping speed: 12-20% above optimal turbine speed.
This needs variable-speed operation, thus power electronics.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
GOVERNOR COMPONENTS
The main parts of a ball-head hydro-mechanical governor are:
Speeder Spring
Thrust Bearing
Flyweights
Pilot Valve
Servo (Power) Piston
Drive Shaft
Dr. K.V. Vidyanandan
kvvidyas@[Link]
SPEEDER SPRING
Speeder spring is used to set desired speed.
Applying more force down on the speeder spring causes
the governor to increase steam.
This initial force is usually set by the operator for the
reference speed.
It can be set by a screw adjustment, a knob, a lever, an
electric motor, air pressure, or solenoids, depending on the
specific governor.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
ISOCHRONOUS GOVERNOR
The ability to return to the original speed (constant speed) after
a change in load is called isochronous speed control
Governor components include comparator and integrator
Works only when unit supplies to an isolated load or only one
unit in a multi-machine system need to respond to load change
Dr. K.V. Vidyanandan
kvvidyas@[Link]
For a 5% droop, a 5% increase in frequency causes change in
turbine output from 100% to 0%
Dr. K.V. Vidyanandan
kvvidyas@[Link]
The ratio of speed deviation
() or frequency deviation
(f) to the change in valve
position (Y) or power
output (P) is equal to the
droop parameter R.
Unit of R: Hz/MW
Dr. K.V. Vidyanandan
kvvidyas@[Link]
Droop (or speed regulation)
permits a machine to share load
with other machines in an
interconnected system.
Typical values of droop for
steam turbines vary from 2.5 to
8% and generally set at 5%.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
Governor Droop, Speed Regulation or Speed Error are the
common terms used in describing a turbines response to
changes in system frequency (or speed).
New grid code requires all units above 10 MW capacity should
have an operating governor with droop.
Droop distributes frequency regulation to all generators in
the interconnected network.
Recommended droop settings for thermal units: 4 to 5% with
a maximum dead band of 0.036 Hz.
Minimum value should not be less than 2.5% to maintain
stability in a speed-droop
governor.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
WHY DROOP IS NECESSARY..?
An increase in load will cause the turbine to slow down. The
governor will respond by increasing the steam until the speed has
returned to the original value. Due to the combined effects of
inertia and power lag, the speed will continue to increase beyond
the setting, causing a speed overshoot.
The governor again will respond to decrease speed to correct for
the overshoot. It will over-correct the speed in the reverse
direction causing undershoot. This overcorrection of speed in both
directions (instability) will amplify until the turbine trips out on
over speed.
With droop, an increase in load will result in reduction in speed
reference and the problem of instability will not occur.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
LOAD SHARING BETWEEN UNITS
Dr. K.V. Vidyanandan
kvvidyas@[Link]
TRANSIENT SPEED RISE
During total load rejection in a unit, speed of the turbinegenerator shoots up temporarily before settling down to
steady state value.
This temporary speed rise is called transient speed rise
and is expressed as percentage speed rise of rated
speed on full load throw off.
Typical Value of TSR : 5-7%
Dr. K.V. Vidyanandan
kvvidyas@[Link]
TRANSIENT SPEED RISE
Dr. K.V. Vidyanandan
kvvidyas@[Link]
GOVERNOR DEAD BAND
Due to inherent inertia of the components of
governing elements and friction present in
governing system, certain motion of governing
system is lost before corrective signal can actuate
the control valves.
The lost of the motion is called DEAD BAND of the
system and is expressed as percentage of rated
speed.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
SPEED GOVERNOR FUNCTIONING
Dr. K.V. Vidyanandan
kvvidyas@[Link]
HYDRAULIC SPEED GOVERNOR
Dr. K.V. Vidyanandan
kvvidyas@[Link]
SPEED MEASUREMENT
(HYDRAULIC)
Dr. K.V. Vidyanandan
kvvidyas@[Link]
A TYPICAL
ELECTRO-HYDRAULIC CONVERTER
Dr. K.V. Vidyanandan
kvvidyas@[Link]
A TYPICAL OVER SPEED TRIP
Dr. K.V. Vidyanandan
kvvidyas@[Link]
LOAD-FREQUENCY CONTROLS
In order to ensure the power balance in the system, three types
of load-frequency controls are commonly used. These are:
Primary Control, Secondary Control and Tertiary Control
Primary control maintains power supply-demand balance by
using proportional control action.
Secondary control restores the frequency after every supply-
demand mismatch using integral action.
Tertiary control ensures economic allocation of secondary
control reserve.
Dr. K.V. Vidyanandan
kvvidyas@[Link]
Inherent control of the prime mover
Fast in Response (< 1 min)
With increase in speed, steam or water flow reduces
With decrease in speed, steam or water flow increases
Control parameter is Droop
Droop vary between 2.5 - 8%
Results in static frequency error after load change
Dr. K.V. Vidyanandan
kvvidyas@[Link]
Supplementary Control
Relatively Slow Response (~ few min.)
Comes into service after the Primary Control
Restores the frequency back to nominal value after a load change
Reset control action is provided
Error acts on Speeder Motor to shift the Droop line up or down
Controllers commonly used are: Integral and PI
Dr. K.V. Vidyanandan
kvvidyas@[Link]
TIME SPAN OF PRIMARY, SECONDARY
AND TERTIARY CONTROL
Dr. K.V. Vidyanandan
kvvidyas@[Link]
GOVERNING OIL SYSTEM (KWU)
Dr. K.V. Vidyanandan
kvvidyas@[Link]
Comments and suggestions are welcome
Dr. K.V. Vidyanandan
AGM & Sr. Faculty Member (PMI)
NTPC Ltd., Noida.
kvvidyas@[Link]
Further Reading
Title
1. Electric Energy Systems
Theory: An Introduction
Author(s)
O.I Elgerd
Publisher
McGraw-Hill, 1983
2. Power System
Control and Stability
P. M. Anderson
A. Fouad
Wiley, 2003
3. Power System
Stability and Control
Prabha Kundur
McGraw Hill, 1994
4. Steam Turbines: Design,
Applications and Rerating
H.P Bloch
M.P Singh
McGraw Hill, 2009
5. Robust Power System
Frequency Control
Hassan Bevrani
Springer, 2009
6. Load-frequency Control
and Performance Policy 1
UCTE
2004
Dr. K.V. Vidyanandan
kvvidyas@[Link]
