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RESEARCH OF AGC AND UNIT ACTIVE POWER

COORDINATION CONTROL STRATEGY IN HYDROPOWER

STATION FOR GIANT HYDRO-GENERATOR UNITS

Chang Zhanfeng Deng Yong

Xiangjiaba Hydropower Station Construction Camp No. 5 ,Yibin City,Sichuan Province,China,zip


code: 644612, mail: chang_zhanfeng@ctgpc.com.cn

ABSTRACT: The active power control of hydropower plant unit has played an important role in
safe and stable operation of the power system and the unit, especially when it was used in the giant
hydro_generator units. It is self-evidence that the actively reliable control has great help. The unit
active control consists of Automatic Generation Control (AGC), Local Control Unit (LCU) and
Governor System. At the same time, all kinds of adjustment modes and the intelligent control have
great importance for the unit regulation. This paper analyses the active control strategies of AGC,
LCU and Governor System, especially the control tactics between LCU and Governor System, as well
as the relationship between AGC and primary frequency regulation. Meanwhile, the analysis of tactics
regarding the active control of the giant units provides supports for the steady operation and ensures
the safety commission for the hydro-plant large power unit.

KEYWORDS: giant, hydro-generator, AGC, active power, LCU

0. Preview
One hydropower station is one of the backbone of the power supply is to optimize the energy
structure. In power systemthe power station forces power output and bears part of the accident reserve
capacity during dry seasons. Besides, the units mainly operate in peak load or medium load, on and off
frequently. In rainy seasons, the units operate in base load or medium load with frequent load
regulation. This unique operating mode has higher requirements for the hydropower station AGC and
the active power cooperative control mechanism of the units.
1. Active power Control strategies of AGC
The AGC regulating system of one hydropower station is divided into scheduling layer and
execution layer, the scheduling layer sends a given value of the real power or the load curve to the
execution layer. The execution layer, including the computer system for schedule (AGC), the computer
system for execution (LCU) and the governor system, works for the active power distribution
calculation and controlling.
1.1 AGC control mode
The AGC control mode in the hydropower station consists of active power value setting, load
curve, frequency compensation and the full frequency control.
(1) When the active power value is given, the value set by the operator is the data source for AGC
total active power. The AGC calculation program reads the active setting value and subtracts the real
active value of the units that are not in AGC,then distribute the residual load to the AGC joint control
units. Each set of the variable amplitude constraints must be less than the maximum allowable
amplitude (300MW), otherwise the program does not accept the set value,the active power issue fails.
(2) In load curve mode, the AGC calculation program, according to the active power setting
value in the load curve, uses step-by-step adjustment algorithm for active power calculation
regulation.96 points are set in the load curve every day, one point in every 15 minutes. The AGC
program first calculates the difference between two adjacent set values, then divides the difference into
15 equal parts.whether the difference between the set value of this minute and the last time valid setting
value is greater than 50MW or not, the setting value of this minute will be assigned to the units 40
seconds in advance and will become a valid setting value as well. Otherwise the setting value of this
minute will be added to the setting value of the next minute, and the setting value of fifteenth minute
will be assigned to the units no matter if the difference with the last setting value is over 50MW. Such a
calculation method not only ensures a smoothing load adjustment, but also guarantees that the load is
adjusted appropriately when reaching the set time and can effectively avoid the large variation of the
total active power regulation.
(3) In frequency compensation mode, the AGC program regulates the active power according to
the system frequency limit .When the system frequency deviation exceeds the dead range of frequency
compensation, the AGC program take part in the frequency compensation until the system frequency
returns to normal state, then the AGC automatically returns to the original operating mode.
(4) In full frequency control mode, the AGC program regulates the active power according to
system frequency. In this case, the total active setting value will be completely assigned by the
frequency control mode of the AGC program base on the change of the bus frequency. The AGC
control mode is shown in figure1.
Dispatch curve
Dispatch Power
center station
Copy load curve
Curve pattern Load
Curve setting value curve
Dispatching Operator setting value
mode Frequency setting value
Active Actual frequency
power Frequency Frequency
Actual total
compensation control
active power
module module
Active Active
Frequency power power
compensation
mode
Frequency
control mode Active
power
Active
calculation
module

Fig.1 AGC control mode


1.2 The AGC active power distribution strategy
The basic principle of the AGC active power distribution in one hydropower station: 1) The units
are not allowed to run in the vibration area; 2) The units are not allowed to cross the vibration area
frequently; 3) The units do not reduce or increase the load as far as possible weather the given total
active power is greater or less than the actual active power; 4) The units are not allowed to regulate
frequently; 5) Optimize the units efficiency.
Based on above principles, the AGC program judges the effectiveness of the active power
setting value after obtaining the initial active power setting value, then allocates active power equally
in capacity according to the proportional coefficient of all participating units and active power
allocation factor of the units. Then it amends the initial allocation value, estimates whether the
allocation value crosses the vibration area, and selects a unit based on the upper and lower limits of the
units vibration area and the possible direction of allocation value crossing the vibration area. Finally,
the AGC program estimates whether the difference between the modified assigned value and the target
value is in the regulation dead zone. If the difference is greater than the regulation dead zonethe
current value will be assigned, otherwise the difference will be reassigned and the calculation of power
parameters will be taken into account.
2. LCU active power control strategy
The LCU of the hydropower station has three operation modes: power analog given mode, power
pulse conditioning mode and opening pulse conditioning mode. 1) In power analog given mode, the
LCU issues received active setting value in analog quantity to the governor controller, and LCU does
not participate in active power control, so the quality and dynamic of real power is not concerning with
LCU. 2) In power pulse conditioning mode or opening pulse conditioning mode, LCU compares the
received setting value of active power with the actual value of real power, when the difference is
greater than the regulation dead zone, pulse modulation module converts the difference to increase or
decrease pulse series and sends it to the governor controller, which adjusts according to the width of the
pulse. In this case, LCU is in charge of the dynamic process of the active power regulation, and the
governor controller is not responsible for the final result of adjustment. The calculation in this mode is
shown in formula 1 and the characteristic of LCU active power pulse regulation is shown in figure 2.

-P0<P<P0 P1=0
P>=P0 P1=P-P0 1
P<=P0 P1=P+P0
P1

Pmax

-P0
o P0 P

-Pmax

Fig.2 Characteristic of active dead zone and maximum regulation


In fig.1, p0 is the regulation dead zone, Pmax is the maximum adjustment offset.

o t1 t2 T0 T1 t

Fig.3 PWM characteristics


For the pulse width modulation of the active power regulation, active power if take T(T0T1
T2) as the PWM cycle, in fig.3

t1=K(Ps-Pi)/100
t2=t1+Tgap+TPmin 2
T0=t2+TPamin+TPact2

Where Kpulse width factorPssetting value of active powerPireal measured value of


active powerTgappulse compensation timeTPminminium width of pulseTPaminminimum
waiting time of pulseTPacwaiting time factor of pulse

3. Governor System active control strategy


The governor controller has three control modes frequency control mode, opening control mode
and power control mode. (1) In frequency control mode, the governor controller adopts parallel PID
regulation law, sets the difference of the given frequency value and unit frequency value as the input of
PID controller, then PID calculates the gate opening value and opens the gate to the opening value
corresponding to the frequency, maintaining the unit frequency in a certain range. In such mode, the
given real power value does not participate in automatic closed loop regulation, but tracks the actual
real power value of the generation units in real time, enables non-interference switchover during the
process of frequency mode switching to power regulation mode.(2) In the opening control mode, the
governor controller adopts PI regulation law. The deviation between the given opening value and the
actual opening value of the gate is converted into frequency value, which is added to the difference
between the unit real frequency and given frequency, then the result is input into the open PID and
converted to open deviation as the target value to adjust the gate opening degree. The adjusting model
is shown in figure 4.(3) In power control mode, the governor controller adopts parallel PI regulation
law, the difference between the given frequency and the unit real frequency is converted to active
power value, which is added to the difference between the unit active power given value and actual
value, then the result is input into the PID controller, and the PID controller calculates the gate opening
value and opens the gate to the opening degree corresponding to a given active power. The adjusting
model is shown in figure 5.

frequency
dead band
unit - +
fg Kf Ef Kp
frequency
+ +
+
given + Ypid
fc Kf parmanent Ki/S
frequency b
speed droop p +

given + Kd/(1+TnS)
yc Ky
opening
-
main servomotor
feedback
Fig.4 PID calculation model for governor opening mode

frequency
dead band power droop
unit -
fg Kf Ef /Ep
frequency
+
given
fc K Kp
frequency f
+ +
unit active - + Ypid
Pg
power
Kpg K /S
i

+ +
given
Pc Kpg Kd/(1+TnS)
active power
Fig.5 PID calculation model for governor power mode

4. Cooperative control strategy for unit active power


The active power regulation of hydroelectric generating set includes operation modes, regulation
modes and implementation method of the modes for AGC, LCU and governor system. Meanwhile, it
also includes the cooperation of the active power regulation mode between LCU and the governor
system, and the mutual restriction of the active power between AGC and primary frequency regulation.
4.1 The active power cooperative control of LCU and governor system
LCU system govermor system real active power

active power power analog power


power control
setting value giver mode control mode OR mode PID
real active power

active power power pulse power


setting value conditioning control mode
mode

real active power opening feedback

active power opening pulse opening opening control


setting value conditioning control mode mode PID
mode

Fig.6 The mode of active power cooperative control of LCU and governor system
In the active power cooperative control of LCU and governor system, normally, after the
generation units are in grid-connected operation, unit active power closed loop mode is put into
operation, monitoring system inputs power analog mode by default and governor system inputs power
mode, LCU controller sends the received active power setting value to the governor system through
AO analog channel. In this case, there are active power closed-loop of LCU and internal closed-loop of
governor controller, however LCU controller is not involved in active power closed-loop regulation,
the active power adjustment is entirely proceeded by the power closed loop of governor. When the AO
analog channel between LCU controller and governor for real power given, or the AI channel for
governor real power given fails, the real power regulation mode automatically switches to the power
pulse regulation mode, and LCU controller converts the difference between the active power setting
value and the real value into a series of positive or negative pulses sends it to the governor controller,
which regulates the active power by converting the received pulses to active power adjustment value
through internal algorithm. In this case, there exist active power closed-loop of LCU and internal
closed-loop of governor controller, in such condition, LCU controller is involved in the dynamic
process of active power regulation, and LCU system is in charge of the quality of regulation , and the
dynamic characteristics of regulation is related to LCU system and governor system.
When governor system functions incorrectly, LCU system active power closed loop will
automatically exit, then the active power regulation mode of the governor system automatically
switches to the open mode of active power open loop, LCU system tracks the unit current active power
actual value and does not regulate the active power. In this mode, the governor controller calculates the
gate opening by the frequency difference, and adjusts the gate opening as a set point value. Due to the
non-linearization of the gate opening and active power with the same gate opening, the active power
change value varies with different water head.
The power control and adjustment of the unit require the cooperation of the LCU system and the
governor system. Normally, the active power response is more rapid and the adjustment accuracy is
higher in power mode than in opening mode, so the unit operates in power mode. When the unit
connects to grid instantly, the monitoring system inputs real power closed loop by default, and active
power mode inputs power analog given mode. In order to avoid the leading phase operation of the unit
within a short time after connected to the grid, LCU controller sends 15MW active power given value
to governor controller through the AO channel.
4.2 The coordination control of AGC and primary frequency regulation.
Primary frequency regulation of hydraulic turbine regulating systems plays a very important role
in maintaining the frequency stability of power systems. The control mode of primary frequency
regulation of hydraulic turbine is determined by the feedback type of hydraulic turbine regulating
system. Primary frequency regulation of one hydropower station units consists of power mode and
open mode. When the unit is in grid-connected operation, generation unit frequency follows grid
frequency. When the absolute value of difference between the unit frequency and the setting frequency
(50Hz) is greater than the dead band given value and exceeds a certain time delay, the unit operates in
primary frequency. In power control mode, the target of the primary frequency regulation is the unit
power; the frequency difference is directly converted into unit power difference. A certain frequency
difference corresponds to a certain unit power difference, which is not concerned with the operative
water head. In opening control mode, the target of the primary frequency regulation is gate opening; a
certain frequency difference in different water head corresponds to different power difference, that is,
in high operating head, the gate opening difference corresponds to big changes of unit power, in low
operating head, the gate opening difference corresponds to small changes of unit power.
In order to avoid the interaction between AGC and primary frequency modulation, which can lead
to load shedding or frequent regulation of the unit, the AGC and primary frequency modulation of the
hydropower units adopt the following system control strategy no matter in power mode or in open
mode. For the AGC joint control units, when the primary frequency modulation acts, the governor
controller superimposes the distribution active power value of AGC, the increment value of primary
frequency modulation and the actual real power value in closed loop control to adjust the active power.
When generation units, which implement primary frequency function, the primary frequency
modulation of which acts, if the variation of actual real power value is greater than the active power
variation recalculation dead zone value of AGC joint control units, AGC program recalculates the
active power and regulates the AGC joint control units to ensure that the total active power of the
hydropower station is constant. When the variation of active power value is less than of the active
power variation recalculation the dead zone value of AGC joint control units, the units regulate the
active power directly. This control strategy effectively solves the active power regulation contradiction
between AGC and primary frequency modulation, ensures that primacy frequency modulation response
correctly; it effectively improves the speed and accuracy of the units active power, and avoids the
frequent forward and reverse regulation of the governor controller.
5. Conclusion and Prospect
The active power control of giant hydro-generator units is a complicated process. In this paper, the
active power control methods and characteristics for different stages of the active power control
process are analyzed in detail. It provides an example for the active power regulation of the hydro-plant
large power units, and supports a more effective decision-making on active control, and improves the
process and quality of active regulation.
There are still many problems need to be further studied in the active power control strategy of
giant hydro-generator units, such as optimization of the model parameters in different stages of active
power control, measuring accuracy error of power transmitter or PLC module, communication delay
between upper computer system and the lower computer system or between lower computer system
and governor system controller, the influence of these factors on active power regulation. It needs to be
carried out theoretical and experimental research continually in the process of unit operation, to further
improve the reliability of the unit and the operation of the power grid.
References:
(1) LEI Shanfeng. Aanlysis of AGC control strategy and real power regulation in Geheyan hydropower
station[J] . Hydropower and New Energy. 2014 Number 4, Total No.118: 13-15.

About the Authors:


Chang Zhanfeng(1980-), male, born in Henan Xiping, senior engineer, he mainly works on technical
maintenance of hydropower plant monitoring system and automatic devices;
Deng Yong(1986-), male, born in Chongqing Hechuan, engineer, he mainly works on technical
maintenance of hydropower plant monitoring system and automatic devices.

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