modeling renewable power systems wind and hydro€¦ · hydroelectric power plants wind power...

Federal University of Santa Catarina Technological Center

Department of Mechanical Engineering Laboratory of Hydraulic and Pneumatic Systems

Modeling Renewable Power Systems

Wind and Hydro

Prof. Victor J. De Negri

Linköping, February, 2016

10th MODPROD Workshop on Model-Based Product Development

2 of 23 MODPROD2016 - Modeling Renewable Power Systems – Wind and Hydro

Electrical Generation in Brazil

• 4,146 power plants on operation:

142 GW of electrical power

• Under construction: 21.9 GW

Hydro power: 15.7 GW

Wind power : 2.8 GW

65.41

4.54

28.64

1.40 0.01 Hydroelectric PowerPlants

Wind Power Plants

Thermoelectric PowerPlants

Nuclear power Plants

Photovoltaic Power Plants


Speed Governors for Hydroelectric Plants

Generator

PV Signal

DV Position

Velocity

Voltage

Servomotor Position

Speed Governor

Turbine

Water Flow


Vento

Transmissão

Controlador

Aerodinâmica

Atuação

V(t)P mec.(ωR,TR)

P elec.(U,I)

βrefP elec.

β

Gerador

P mec.(ωG,TG)

Wind Turbine Power Control

Rotor

Transmission Generator

Controller Actuator

Wind


Speed and Power Governors:

Automatic Systems

Automatic Systems:

• Applications including Control and/or Automation

• Events start the control tasks

• Behavior:

• Continuous:

• Discrete

Automatic

Systems

Automation

Systems

Control

Systems

1 1,05 1,1 1,13 1,15 1,2

0

50

100

0

50

100

Time [s]

Va

lve

op

en

ing

[%

]

Non linear, Kv=1,13, Kp=15,0





Automatic Systems

Automatic Systems:

• Several components

• Different technologies

• System behavior depends on the

interrelation between components

• System design and operation are not

trivial

Automatic systems have a

unique fundamental structure


Automatic Systems

Modeling Perspectives

• Functional model:

• Specifies what the system does or should do

• Function describes the technical system ability to

fulfil a purpose

• Structural model:

• Describes where the functions are implemented

• Behavioral model:

• Explains how or when

the functions are executed

++

-

UZ1 UV1 xV11ZK

1SK

)121

(

2

V1

2 ss

K

nn

0Kq ++

-

++

-

sVt

4

1

BsMs

A

2

0Kc

As

pc

xA1

qvc

US1

pS

xA

qvc

V1 Valve

AA

AB

Me

S1

A1

xV

UU

V1

Z1

US1

Z1

BC

KC

FC

qvc/2

rA=AA/AB

rA=2A

A

Position transducer

Actuator

Controller

Z1

V1

A1 S1


Hydro and Wind Power Plants

Functional and Structural Modeling:

• Applying Channel/Agency Petri Net

• Circuit Diagrams

Behavioral Modeling:

• Applying Grafcet, Ladder Diagram, Logical Block Diagram… for event

guided modeling (Discrete state modeling)

• Applying Differential Equations, Transfer Function, Power Bond Graph,

Block Diagram… for continuous state modeling.

MP

c4

FrancisTurbine

a1

H2O

c2 H2O

c3

Generator

a2

EP

c1

Cp

c5

Inf

c6

dy

y

PID

Au

PWM generator A

PWM generator B

Bu

Au

BuControl

Algorithm

PWM

uAdcu _

Bdcu _

Adcu _

Bdcu _


Channel/Agency Net

• Heuser (1990), Reisig (1992), Hanisch (1992), De Negri (1996)

AGENCY 1

AGENCY 2

DIRECTED ARCS FOR ENERGY FLOW

AGENCY 3

PASSIVE UNITS (CHANNELS)

ACTIVE UNITS (AGENCIES)

DIRECTED ARCS FOR MATTER FLOW

DIRECTED ARCS FOR INFORMATION FLOW

DIRECTED ARCS FOR MATTER AND ENERGY FLOW

Basic elements

SymbolGenericname

Functionalview

Structuralview

Activeunit

Passiveunit

Activity(function)

Resource

Agency

Channel

Directed arcsSymbol Resource type

Energy

Information

Matter

Energy and matter

Hidden channelsSymbol


Design Process: Function-Means Tree

• Hubka (1976); Andreasen (1980); Burr (1990)

• Technical systems / Mechatronic systems

FUNCTION

MEAN 1

or

and

MEAN 2 MEAN 3

F2.1 F2.2

M2.1 M2.2 M2.3 M2.4

F3.1 F3.2 F3.3 F3.4

M3.1 M3.2 M3.3 M3.4 M3.5

• C/A Net using the

Function-Means Tree perspective


The Design Process: C/A Net

Refinement and condensation

Refinement

CnChannel

1

Agency1

Channel 2

c1.1

a1.1a1.c1

a1.2

c2.1 c2.2

c2.3c2.a1 c2.a2

c2.4

Condensation


The Design Process using C/A Net

Example of Channel/Agency Net modelling

• Main function: Electrical energy generation

EP

c1

Power plant

a1

Thermal Wind Nuclear Hydroelectric

Hydroelectric

a1

EP

c1H2O

c2 H2O

c3

WavesTurbine (Dam)



PeltonKaplanFrancis

MP

c4

Turbine

a1

H2O

c2

H2O

c3

Generator

a2

EP

c1

MP

c4

FrancisTurbine

a1

H2O

c2 H2O

c3

Generator

a2

EP

c1

Cp

c5

Inf

c6



Scroll Case

a1

H2O

c2

H2O

c3

Generator

a2

EP

c1

Wicket gates

a3

H2O

c7

H2O

c8

Runner Blades

a4

H2O

H2O

c9

Draft Tube

a5

MP

c4

HP

c5

Inf

c6Inf

Power Unit

a6

Speed Governor

a7

Inf Cp

H2O, Usp

H2O

H2O, Usp

H2O, Usp

H2O, Usp

H2O, Usp

Cp

Usp

H2O

Usp

Usp

RTVX100

RVX300

RVX200

Electrical

Pneumatics

Hydraulics

Inf

c10Inf

Voltage Governor

a8

Inf

RTVX100

RTX300

RTX400

Cp

Usp

Inf

Control Power

Useful Power

Water

Information

HP Hydraulic Power

MP Mechanical Power

EP Electric Power

H2O



Mathematical representation of Channel/Agency Nets

),,,,,,,,(N Postprecarereexex KKEACAC

c1

c2 c3

c4

c5 c6

a1

a2

r2

r1

r3

r1, r3

r3r1

r1, r3

},...,,{ 21 ncccC

},...,,{ 21 maaaA

},...,,{ 21 bre rrrE

Kpre a1 a2

c1 {r1}

c2 {r2}

c3 {r3}

c4 {r1, r3}

c5

c6

c2*a1

Kpost a1 a2

c1

c2

c3

c4 {r1, r3}

c5 {r1}

c6 {r3}

c2*a1 {r2}



Analysis of the net properties • Activity 1.1: Structural Coherence

• Activity 1.2: Resource Flow Coherence

Logical operation “OR” between rows

VLKpre VLKpost VCKpre

VC Kpre – VC KpostVL Kpre – VL Kpost

VCKpost

VCResVLRes

Kpre Kpost

Eliminate non-zero elements

Supplier and consumer channels

Analyze non-zero elements

Logical operation "OR" between columns

Supplier channel

a1

Verify at Kpost which channels are linked to the agencies

Verify at Kpre which agencies are linked to the channel

a2 am

It is a consumer or blocked channel

...

Store relationship between supplier and consumer (or blocked) channels

Conclusion regarding resource flow coherence

c1 c2 cn...

Verify whether this is a consumer channel or a channel blocked by a controllable agency.

It is not a consumer nor blocked channel


Equivalence between C/A net and circuit diagrams


Agent

Anglemax

= 15 °

Response = 100 ms

Signal Rudder

EneCylinder: d = 30 mm

Valve: qVn

= 32 L/min (p = 10 bar)

Controller gains:K

P = 2; K

I = 0,1

Position sensor:KS = 300 V/m

A1

FT

P1

V2

V3

Z1

a4 (M) c3 a3 (P1)

c1

a1 (Z1)

c4a5 (V2)

c5

c9c6

a6 (V3)

c2

a2 (FT)

c7

a7 (A1)

c8

c10

c11

c12

M

Mathematical analysis of

hydraulic, pneumatic,

and electric circuits

From conceptual to detailed design


Reliability Analysis on the Automatic

System Design

2007

Henri C. Belan

2009

Gilson Porciúncula

Electric Diagram

Hydraulic Diag.

Grafcet

Reliability


Hydro and Wind Power Plants

Functional and Structural Modeling:

• Applying Channel/Agency Petri Net

• Circuit Diagrams

Behavioral Modeling:

• Applying Grafcet, Ladder Diagram, Logical Block Diagram… for event

guided modeling (Discrete state modeling)

• Applying Differential Equations, Transfer Functions, Power Bond Graphs,

Block Diagram… for continuous state modeling.

MP

c4

FrancisTurbine

a1

H2O

c2 H2O

c3

Generator

a2

EP

c1

Cp

c5

Inf

c6

dy

y

PID

Au

PWM generator A

PWM generator B

Bu

Au

BuControl

Algorithm

PWM

uAdcu _

Bdcu _

Adcu _

Bdcu _


Continuous State Mathematical Models

• Hydrostatic Transmission for Wind Turbines

• Fixed displacement pump coupled to the rotor;

• Variable displacement motor coupled to the generator;

• Charging circuit, to avoid cavitation and compensate leakage;

20

M

GS

UV1

UZ1

Controller Z1

US1

US2 Synchronous

generatorUS3

Wind turbine

rotor


Dynamic Modeling and Simulation

AMESim model

• Wind torque; Hydraulic circuit; Control System; Electrical grid

• Synchronous generator directly connected to the grid

21

2012

Eduardo Flesch

2015

Henrique Raduenz


Prototype Design and Construction

Structural model (3D CAD):

• 8.5 m high: include the effects of height

difference;

• 28 kW;

• Using off-the-shelf components;

• Generated electricity delivered to the grid;

• Electrical motor act as wind turbine rotor

Behavioral model (AMESim);

• Study of control strategies;

• Analysis of the system connection to the grid;

• Improve the overall efficiency and achieve a

cost effective solution;

2015

Jonatan Turesson

Joel Rappp

Henrique Raduenz


Pitch

control

Force calculation

Wind Turbine Blades:

Pitch control and Force Emulation

Matlab/Simulink

• System simulation

• Blade pitch control

• Real-time force calculation Force

emulation


Wind Turbine Blades:

Pitch control and Force Emulation

Illustrative block diagram

Test bench


Hydraulic System Design Using

Biodegradable Hydraulic Fluids

Illustrative model of the fluid ageing:

• Expert system development for the

system design support

• Software Function Block Diagram:

2013

Yesid Asaff


• Automatic Systems

Models for Hydro and Wind Power Systems

• Electrical Generation

• Speed and Power Governors

• Functional and Structural

Modeling:

• Behavioral Modeling:

Kpre a1 a2

c1 {r1}

c2 {r2}

c3 {r3}

c4 {r1, r3}

c5

c6

c2*a1


2016 Conferences on Fluid Power in Brazil


Santa Catarina Island - Florianópolis

Hercilio Luz Bridge

Conceição Lake

Public Market

Dunes

Praia dos Ingleses

English`s Beach

Santa Catarina Island

Federal University of Santa Catarina Technological Center

Department of Mechanical Engineering Laboratory of Hydraulic and Pneumatic Systems

Victor J. De Negri

[email protected]

Modeling Renewable Power Systems

Wind and Hydro

modeling renewable power systems wind and hydro€¦ · hydroelectric power plants wind power...

Documents