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Direct approach to optimize PID controller parameters of hydropower plants

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  • Yu, Xiaodong
  • Yang, Xiuwei
  • Yu, Chao
  • Zhang, Jian
  • Tian, Yuan

Abstract

As a core component of hydroturbine regulating systems (HTRS), a PID controller is essential to ensure system stability and regulate quality, although its parameter selection remains challenging. This study presents a state space model of an HTRS with a surge tank, as well as an explicit formula derived for the dimensionless turbine rotating speed, using system decoupling with the state matrix in the Jordan canonical form. The regulating quality parameters (RQPs) in the entire stable domain can be readily obtained using the direct solving method (DSM) without time-domain simulation, and the optimized PID controller parameters can be selected based on the RQP. A comparative analysis of the DSM and a traditional time-domain simulation was conducted based on a practical hydropower plant. Both methods yielded the same results; the DSM was considerably more efficient in providing the full RQP domain, where the effect of the surge tank subsystem was clearly demonstrated. In the proposed DSM, only state parameters were required for selecting the PID controller parameters. As hydropower plants operate under varying conditions, the DSM was effective for tuning purposes.

Suggested Citation

  • Yu, Xiaodong & Yang, Xiuwei & Yu, Chao & Zhang, Jian & Tian, Yuan, 2021. "Direct approach to optimize PID controller parameters of hydropower plants," Renewable Energy, Elsevier, vol. 173(C), pages 342-350.
    • Handle: RePEc:eee:renene:v:173:y:2021:i:c:p:342-350
    DOI: 10.1016/j.renene.2021.03.129
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    3. Dao, Fang & Zou, Yidong & Zeng, Yun & Qian, Jing & Li, Xiang, 2023. "An intelligent CPSOGSA-based mixed H2/H∞ robust controller for the multi-hydro-turbine governing system with sharing common penstock," Renewable Energy, Elsevier, vol. 206(C), pages 481-497.
    4. Zhou, Jianxu & Mao, Yutong & Shen, Aili & Zhang, Jian, 2023. "Modeling and stability investigation on the governor-turbine-hydraulic system with a ceiling-sloping tail tunnel," Renewable Energy, Elsevier, vol. 204(C), pages 812-822.
    5. Taler, Dawid & Sobota, Tomasz & Jaremkiewicz, Magdalena & Taler, Jan, 2022. "Control of the temperature in the hot liquid tank by using a digital PID controller considering the random errors of the thermometer indications," Energy, Elsevier, vol. 239(PE).
    6. Qi Yang & Jing Qian & Jia Li & Yidong Zou & Danning Tian & Yun Zeng & Yan Long & Ganyuan Zhang, 2023. "A New Integral Sliding Mode Control for Hydraulic Turbine Governing Systems Based on Nonlinear Disturbance Observer Compensation," Sustainability, MDPI, vol. 15(17), pages 1-21, August.
    7. Lu, Xueding & Li, Chaoshun & Liu, Dong & Zhu, Zhiwei & Tan, Xiaoqiang & Xu, Rongli, 2023. "Comprehensive stability analysis of complex hydropower system under flexible operating conditions based on a fast stability domain solving method," Energy, Elsevier, vol. 274(C).
    8. Zou, Yidong & Hu, Wenqing & Xiao, Zhihuai & Wang, Yunhe & Chen, Jinbao & Zheng, Yang & Qian, Jing & Zeng, Yun, 2023. "Design of intelligent nonlinear robust controller for hydro-turbine governing system based on state-dynamic-measurement hybrid feedback linearization method," Renewable Energy, Elsevier, vol. 204(C), pages 635-651.

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