Simulation Study of Hydraulic Turbine by Using Self-Tuning Fuzzy PID Controller

Abstract

In recent years, as a result of the rapid growth of energy demand in the regions where the majority of the rivers has increased quite interested in the hydroelectric power plants. A hydroelectric power plant consists of hydraulic turbines, consisting of generators and speed regulation system. Function of the speed regulation system provide to give instantaneously requested energy from depending on the interconnected system. The function of the speed regulator in the system is set the position of the setting wings that control the amount of water entering the hydraulic turbine. Speed regulators are controlled by reference to the active power and frequency parameters of the system. In this study, it has been created model of a hydroelectric power plant and has been obtained transfer function of the entire system. Fuzzy-PID controller PID controller is supplied to the speed regulation system. According to obtained simulation results, it is observed that fuzzy –PID controller provides better speed response than PI controller.

Keywords

• Hydraulic Turbine, PID Controller, Fuzzy Logic, Fuzzy-PID Controller

Öz Ayarlamalı Bulanık-PID Denetleyici İle Hidrolik Türbinin Benzetim Çalışması

Abstract

Ülkemizde son yıllarda enerji gereksiniminin hızla artması sonucunda akarsuların çoğunlukta olduğu bölgelerde hidroelektrik santrallerine (HES) ilgi oldukça artmıştır. Bir hidroelektrik santrali temel olarak, hidrolik türbinler, generatörler ve hız regülasyon sistemlerinden oluşur. Hız regülasyon sisteminin görevi, bağlı olduğu enterkonnekte sistemden anlık olarak talep edilen enerjinin verilmesini sağlamaktır. Bu sistemde bulunan hız regülatörünün görevi ise, hidrolik türbine giren su miktarını kontrol eden ayar kanatlarının konumlarını ayarlamaktır. Hız regülatörleri, aktif güç ve sistem frekans parametrelerini referans alarak kontrol edilirler. Bu çalışmada bir hidroelektrik santralin modeli çıkarılmış ve tüm sistemin transfer fonksiyonu elde edilmiştir. Hız regülasyon sistemine PID denetleyici ve Bulanık-PID denetleyici uygulanmıştır. Elde edilen benzetim çalışması sonuçlarına göre bulanık-PID denetleyicinin klasik PID denetleyiciye göre daha iyi hız cevabı verdiği gözlemlenmiştir.

Keywords

• Hidrolik Türbin, PID Denetleyici, Bulanık Mantık, Bulanık-PID Denetleyici

References

1. P. Kundur, Power System Stability and Control, McGraw-Hill, 1994.
2. R.S. Burns, Advanced Control Engineering, Butterworth-Heinemann,2001.
3. X.Y. Zhang ve M.G. Zhang “An adaptıve fuzzy pıd control of hydro-turbıne governor”, Proc. of the Fifth International Conference on Machine Learning and Cybernetics, Dalian, China, s:325-329,2006.
4. J. Jiang, “Design of an Optimal Robust Governor for Hydraulic nrbine Generating Units”, IEEE Trans. On Energy Conversion, Cilt: 10, No: 1, s:188-194.
5. R.E. Doan ve K. Natarajan, “Modeling and Control Design for Governing Hydroelectric Turbines With Leaky Wicket Gates”, IEEE Trans. on Energy Conversion, Cilt: 19, No: 2, s:449-455.
6. Ö. Oral, L. Çetin ve E. Uyar, “A Novel Method on Selection of Q And R Matrices In The Theory Of Optimal Control” International Journal of Systems Control, Cilt.1, No:2, s: 84-92, 2010.
7. Keçecioglu F, Şekkeli M, Güneş M. “Lineer Kuadratik Regülatör (LKR) ile Hidrolik Türbinin Optimal Kontrolü”, TOK2013.
8. Kuo Benjamin C., “Otomatik Kontrol Sistemleri”, Yedinci Baskı, Prentice Hall 1995.

9. J.G. Zigeler, N.B. Nichols, “Optimization Setting for Automatic Controller”, Trans. ASME, Vol. 64, pp. 756- 769, 1942.
10. L. A. Zadeh, “Fuzzy sets,” Inform, Control, Vol.8, 1965, pp.338-353.
11. Dan Hu, Linhang Li, “The research of fuzzy PID controller based on DSP”, Sichuan:Xihua University ,pp. 21-24, 2007.
12. Gunes Mahit, “Fuzzy and three-step control of refiner system to get stable freeness for recycled paper” Scientific Research and Essays Vol. 6(1), pp. 110-117, 4 January, 2011.
13. J. Kim, S. Oh, “A Fuzzy PID Controller for Nonlinear and Uncertain. Systems”, Soft Computing, 4: 123-129, 2000.
14. Zhiqiang Gao, Thomas A. Trautzsch and James G. Dawson, “A Stable Self-Tuning Fuzzy Logic Control
15. Regulation”, Industry Application IEEE, Vol.38 No.2, pg 414-424, 2002.
16. Cao G., Lou C., and D. An, “Application of fuzzy self-tuning PID control to air conditioning system”, Heat Ventilating and Air Conditioning, vol. 34, No.10, 106-109, October 2004.
17. Chen L., “Research on Control Strategy of Fuzzy PID Controller”, Coal Mine Automation, 2001.
18. Bhattacharya S., Chatterjee A., and Munshi S., “An improved PID-type fuzzy controller employing individual fuzzy P, fuzzy I and fuzzy D controllers”. Transactions of the Institute of Measurement and Control 25: 352–372, 2003.
19. Zulfatmann, M.F. Rahmat, “Application of Self- Tuning Fuzzy PID Controller on Industrial Hydraulic Actuator using System Identification Approach,“ Int. Journal on Smart Sensing and Intelligent Systems, vol. 2, No. 2, June 2009, pp. 246-261, 2009.
20. Açıkgöz H., Keçecioğlu Ö.F, Gani A., Şekkeli M., “Speed Control of Direct Torque Controlled Induction Motor By using PI, Anti-Windup PI and Fuzzy Logic Controller”, International Journal of Intelligent Systems and Applications in Engineering, Vol.2 No.3 pp. 58-63, 2014. Industrial Temperature