IDEAS home Printed from https://ideas.repec.org/a/eee/rensus/v144y2021ics136403212100174x.html
   My bibliography  Save this article

A review of dynamic models and stability analysis for a hydro-turbine governing system

Author

Listed:
  • Xu, Beibei
  • Zhang, Jingjing
  • Egusquiza, Mònica
  • Chen, Diyi
  • Li, Feng
  • Behrens, Paul
  • Egusquiza, Eduard

Abstract

Hydropower offers highly flexible, low-carbon generation that can be used to balance electricity grids with high levels of wind and solar penetration. This will become increasingly important as the energy transition unfolds. However, hydropower generation faces several problems when used in a flexible, fast manner (on the order of seconds) when in part-load, overload, or transient conditions. Some of these issues may be addressed by an improved understanding of how the load is measured and controlled in a hydro-turbine governing system (HTGS). This paper reviews different subsystem models and stability analysis approaches for HTGS along with their applicability in different operational conditions and design layouts. The review revealed three main challenges facing the increasing flexible use of HTGS on the grid: 1) the combination of the HTGS and shaft model, 2) the control methods of HTGS with intermittent renewable energies, and 3) the uncertain nature of load on the overall performance and stability of the hydropower system. This review can stimulate further research on HTGS models and control methods to improve grid management.

Suggested Citation

  • Xu, Beibei & Zhang, Jingjing & Egusquiza, Mònica & Chen, Diyi & Li, Feng & Behrens, Paul & Egusquiza, Eduard, 2021. "A review of dynamic models and stability analysis for a hydro-turbine governing system," Renewable and Sustainable Energy Reviews, Elsevier, vol. 144(C).
    • Handle: RePEc:eee:rensus:v:144:y:2021:i:c:s136403212100174x
    DOI: 10.1016/j.rser.2021.110880
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S136403212100174X
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.rser.2021.110880?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. Chen, Zhihuan & Yuan, Xiaohui & Yuan, Yanbin & Lei, Xiaohui & Zhang, Binqiao, 2019. "Parameter estimation of fuzzy sliding mode controller for hydraulic turbine regulating system based on HICA algorithm," Renewable Energy, Elsevier, vol. 133(C), pages 551-565.
    2. Yuan, Xiaohui & Chen, Zhihuan & Yuan, Yanbin & Huang, Yuehua & Li, Xianshan & Li, Wenwu, 2016. "Sliding mode controller of hydraulic generator regulating system based on the input/output feedback linearization method," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 119(C), pages 18-34.
    3. Riasi, Alireza & Tazraei, Pedram, 2017. "Numerical analysis of the hydraulic transient response in the presence of surge tanks and relief valves," Renewable Energy, Elsevier, vol. 107(C), pages 138-146.
    4. Caralis, G. & Papantonis, D. & Zervos, A., 2012. "The role of pumped storage systems towards the large scale wind integration in the Greek power supply system," Renewable and Sustainable Energy Reviews, Elsevier, vol. 16(5), pages 2558-2565.
    5. Bao, Haiyan & Yang, Jiandong & Zhao, Guilian & Zeng, Wei & Liu, Yanna & Yang, Weijia, 2018. "Condition of setting surge tanks in hydropower plants – A review," Renewable and Sustainable Energy Reviews, Elsevier, vol. 81(P2), pages 2059-2070.
    6. Liu, Dong & Wang, Xin & Peng, Yunshui & Zhang, Hui & Xiao, Zhihuai & Han, Xiangdong & Malik, O.P., 2020. "Stability analysis of hydropower units under full operating conditions considering turbine nonlinearity," Renewable Energy, Elsevier, vol. 154(C), pages 723-742.
    7. Sawle, Yashwant & Gupta, S.C. & Bohre, Aashish Kumar, 2018. "Review of hybrid renewable energy systems with comparative analysis of off-grid hybrid system," Renewable and Sustainable Energy Reviews, Elsevier, vol. 81(P2), pages 2217-2235.
    8. Guo, Wencheng & Yang, Jiandong, 2018. "Modeling and dynamic response control for primary frequency regulation of hydro-turbine governing system with surge tank," Renewable Energy, Elsevier, vol. 121(C), pages 173-187.
    9. Deshmukh, M.K. & Deshmukh, S.S., 2008. "Modeling of hybrid renewable energy systems," Renewable and Sustainable Energy Reviews, Elsevier, vol. 12(1), pages 235-249, January.
    10. Yu, Xiaodong & Zhang, Jian & Fan, Chengyu & Chen, Sheng, 2016. "Stability analysis of governor-turbine-hydraulic system by state space method and graph theory," Energy, Elsevier, vol. 114(C), pages 613-622.
    11. Rezghi, Ali & Riasi, Alireza & Tazraei, Pedram, 2020. "Multi-objective optimization of hydraulic transient condition in a pump-turbine hydropower considering the wicket-gates closing law and the surge tank position," Renewable Energy, Elsevier, vol. 148(C), pages 478-491.
    12. Xu, Beibei & Chen, Diyi & Patelli, Edoardo & Shen, Haijun & Park, Jae-Hyun, 2019. "Mathematical model and parametric uncertainty analysis of a hydraulic generating system," Renewable Energy, Elsevier, vol. 136(C), pages 1217-1230.
    13. Xu, Beibei & Chen, Diyi & Zhang, Hao & Wang, Feifei, 2015. "Modeling and stability analysis of a fractional-order Francis hydro-turbine governing system," Chaos, Solitons & Fractals, Elsevier, vol. 75(C), pages 50-61.
    14. Caoyuan Ma & Chuangzhen Liu & Xuezi Zhang, 2018. "Fixed-Time Feedback Control of the Hydraulic Turbine Governing System," Complexity, Hindawi, vol. 2018, pages 1-9, August.
    15. Yang, Weijia & Yang, Jiandong & Zeng, Wei & Tang, Renbo & Hou, Liangyu & Ma, Anting & Zhao, Zhigao & Peng, Yumin, 2019. "Experimental investigation of theoretical stability regions for ultra-low frequency oscillations of hydropower generating systems," Energy, Elsevier, vol. 186(C).
    16. Tarnopolski, Mariusz, 2018. "Correlation between the Hurst exponent and the maximal Lyapunov exponent: Examining some low-dimensional conservative maps," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 490(C), pages 834-844.
    17. Yang, Weijia & Norrlund, Per & Chung, Chi Yung & Yang, Jiandong & Lundin, Urban, 2018. "Eigen-analysis of hydraulic-mechanical-electrical coupling mechanism for small signal stability of hydropower plant," Renewable Energy, Elsevier, vol. 115(C), pages 1014-1025.
    18. Yang, Weijia & Yang, Jiandong, 2019. "Advantage of variable-speed pumped storage plants for mitigating wind power variations: Integrated modelling and performance assessment," Applied Energy, Elsevier, vol. 237(C), pages 720-732.
    19. Zhihuai Xiao & Suili Meng & Na Lu & O. P. Malik, 2015. "One-Step-Ahead Predictive Control for Hydroturbine Governor," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-10, September.
    20. Guo, Wencheng & Yang, Jiandong, 2017. "Hopf bifurcation control of hydro-turbine governing system with sloping ceiling tailrace tunnel using nonlinear state feedback," Chaos, Solitons & Fractals, Elsevier, vol. 104(C), pages 426-434.
    21. Xu, Beibei & Chen, Diyi & Venkateshkumar, M. & Xiao, Yu & Yue, Yan & Xing, Yanqiu & Li, Peiquan, 2019. "Modeling a pumped storage hydropower integrated to a hybrid power system with solar-wind power and its stability analysis," Applied Energy, Elsevier, vol. 248(C), pages 446-462.
    22. Pérez-Díaz, Juan I. & Chazarra, M. & García-González, J. & Cavazzini, G. & Stoppato, A., 2015. "Trends and challenges in the operation of pumped-storage hydropower plants," Renewable and Sustainable Energy Reviews, Elsevier, vol. 44(C), pages 767-784.
    23. Kishor, Nand & Saini, R.P. & Singh, S.P., 2007. "A review on hydropower plant models and control," Renewable and Sustainable Energy Reviews, Elsevier, vol. 11(5), pages 776-796, June.
    24. Li, Huanhuan & Chen, Diyi & Zhang, Hao & Wu, Changzhi & Wang, Xiangyu, 2017. "Hamiltonian analysis of a hydro-energy generation system in the transient of sudden load increasing," Applied Energy, Elsevier, vol. 185(P1), pages 244-253.
    25. Yang, Weijia & Norrlund, Per & Bladh, Johan & Yang, Jiandong & Lundin, Urban, 2018. "Hydraulic damping mechanism of low frequency oscillations in power systems: Quantitative analysis using a nonlinear model of hydropower plants," Applied Energy, Elsevier, vol. 212(C), pages 1138-1152.
    26. Yu, Xiaodong & Yang, Xiuwei & Zhang, Jian, 2019. "Stability analysis of hydro-turbine governing system including surge tanks under interconnected operation during small load disturbance," Renewable Energy, Elsevier, vol. 133(C), pages 1426-1435.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Lianda Duan & Dekuan Wang & Guiping Wang & Changlin Han & Weijun Zhang & Xiaobo Liu & Cong Wang & Zheng Che & Chang Chen, 2022. "Piecewise Causality Study between Power Load and Vibration in Hydro-Turbine Generator Unit for a Low-Carbon Era," Energies, MDPI, vol. 15(3), pages 1-13, February.
    2. Xu, Pan & Fu, Wenlong & Lu, Qipeng & Zhang, Shihai & Wang, Renming & Meng, Jiaxin, 2023. "Stability analysis of hydro-turbine governing system with sloping ceiling tailrace tunnel and upstream surge tank considering nonlinear hydro-turbine characteristics," Renewable Energy, Elsevier, vol. 210(C), pages 556-574.
    3. Yi Liu & Xiaodong Yu & Xinlei Guo & Wenlong Zhao & Sheng Chen, 2023. "Operational Stability of Hydropower Plant with Upstream and Downstream Surge Chambers during Small Load Disturbance," Energies, MDPI, vol. 16(11), pages 1-13, June.
    4. Huang, Yifan & Yang, Weijia & Liao, Yiwen & Zhao, Zhigao & Ma, Weichao & Yang, Jiebin & Yang, Jiandong, 2022. "Improved transfer function method for flexible simulation of hydraulic-mechanical-electrical transient processes of hydro-power plants," Renewable Energy, Elsevier, vol. 196(C), pages 390-404.
    5. Jianxu Zhou & Chaoqun Li & Yutong Mao, 2023. "Discussion on Operational Stability of Governor Turbine Hydraulic System Considering Effect of Power System," Energies, MDPI, vol. 16(11), pages 1-17, May.
    6. Zhang, Jian & Qiu, Weixin & Wang, Qinyi & Yao, Tianyu & Hu, Chao & Liu, Yi, 2024. "Extreme water level of surge chamber in hydropower plant under combined operating conditions," Chaos, Solitons & Fractals, Elsevier, vol. 178(C).
    7. 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.
    8. Yan, Donglin & Zheng, Yang & Liu, Wanying & Chen, Tianya & Chen, Qijuan, 2022. "Interval uncertainty analysis of vibration response of hydroelectric generating unit based on Chebyshev polynomial," Chaos, Solitons & Fractals, Elsevier, vol. 155(C).
    9. Liu, Yi & Zhang, Jian & Chen, Sheng & Yu, Xiaodong, 2023. "Stability analysis and estimation of domain of attraction for hydropower station with surge tank," Chaos, Solitons & Fractals, Elsevier, vol. 170(C).
    10. Ma, Weichao & Zhao, Zhigao & Yang, Jiebin & Lai, Xu & Liu, Chengpeng & Yang, Jiandong, 2024. "A transient analysis framework for hydropower generating systems under parameter uncertainty by integrating physics-based and data-driven models," Energy, Elsevier, vol. 297(C).
    11. Li, Xudong & Yang, Weijia & Liao, Yiwen & Zhang, Shushu & Zheng, Yang & Zhao, Zhigao & Tang, Maojia & Cheng, Yongguang & Liu, Pan, 2024. "Short-term risk-management for hydro-wind-solar hybrid energy system considering hydropower part-load operating characteristics," Applied Energy, Elsevier, vol. 360(C).
    12. Olabi, A.G. & Abdelkareem, Mohammad Ali, 2022. "Renewable energy and climate change," Renewable and Sustainable Energy Reviews, Elsevier, vol. 158(C).
    13. Fawaz E. Alsaadi & Amirreza Yasami & Hajid Alsubaie & Ahmed Alotaibi & Hadi Jahanshahi, 2022. "Control of a Hydraulic Generator Regulating System Using Chebyshev-Neural-Network-Based Non-Singular Fast Terminal Sliding Mode Method," Mathematics, MDPI, vol. 11(1), pages 1-18, December.
    14. Han, Shuo & He, Mengjiao & Zhao, Ziwen & Chen, Diyi & Xu, Beibei & Jurasz, Jakub & Liu, Fusheng & Zheng, Hongxi, 2023. "Overcoming the uncertainty and volatility of wind power: Day-ahead scheduling of hydro-wind hybrid power generation system by coordinating power regulation and frequency response flexibility," Applied Energy, Elsevier, vol. 333(C).
    15. Zhang, Nan & Feng, Chen & Shan, Yahui & Sun, Na & Xue, Xiaoming & Shi, Liping, 2023. "A universal stability quantification method for grid-connected hydropower plant considering FOPI controller and complex nonlinear characteristics based on improved GWO," Renewable Energy, Elsevier, vol. 211(C), pages 874-894.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Liu, Dong & Li, Chaoshun & Tan, Xiaoqiang & Lu, Xueding & Malik, O.P., 2021. "Damping characteristics analysis of hydropower units under full operating conditions and control parameters: Accurate quantitative evaluation based on refined models," Applied Energy, Elsevier, vol. 292(C).
    2. Zhao, Zhigao & Yang, Jiandong & Huang, Yifan & Yang, Weijia & Ma, Weichao & Hou, Liangyu & Chen, Man, 2021. "Improvement of regulation quality for hydro-dominated power system: quantifying oscillation characteristic and multi-objective optimization," Renewable Energy, Elsevier, vol. 168(C), pages 606-631.
    3. Ma, Weichao & Zhao, Zhigao & Yang, Jiebin & Lai, Xu & Liu, Chengpeng & Yang, Jiandong, 2024. "A transient analysis framework for hydropower generating systems under parameter uncertainty by integrating physics-based and data-driven models," Energy, Elsevier, vol. 297(C).
    4. Shi, Yousong & Zhou, Jianzhong & Guo, Wencheng & Zheng, Yang & Li, Chaoshun & Zhang, Yongchuan, 2022. "Nonlinear dynamic characteristics analysis and adaptive avoid vortex-coordinated optimal control of hydropower units under grid connection," Renewable Energy, Elsevier, vol. 200(C), pages 911-930.
    5. Dong Liu & Xinxu Wei & Jingjing Zhang & Xiao Hu & Lihong Zhang, 2023. "A Parameter Sensitivity Analysis of Hydropower Units under Full Operating Conditions Considering Turbine Nonlinearity," Sustainability, MDPI, vol. 15(15), pages 1-21, July.
    6. Ma, Weichao & Yan, Wenjie & Yang, Jiebin & He, Xianghui & Yang, Jiandong & Yang, Weijia, 2022. "Experimental and numerical investigation on head losses of a complex throttled surge tank for refined hydropower plant simulation," Renewable Energy, Elsevier, vol. 186(C), pages 264-279.
    7. Chen, Jinbao & Zheng, Yang & Liu, Dong & Du, Yang & Xiao, Zhihuai, 2023. "Quantitative stability analysis of complex nonlinear hydraulic turbine regulation system based on accurate calculation," Applied Energy, Elsevier, vol. 351(C).
    8. 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.
    9. Liu, Dong & Li, Chaoshun & Malik, O.P., 2021. "Nonlinear modeling and multi-scale damping characteristics of hydro-turbine regulation systems under complex variable hydraulic and electrical network structures," Applied Energy, Elsevier, vol. 293(C).
    10. Bicheng Guo & Jiang Guo, 2019. "Feedback Linearization and Reaching Law Based Sliding Mode Control Design for Nonlinear Hydraulic Turbine Governing System," Energies, MDPI, vol. 12(12), pages 1-19, June.
    11. Lu, Xueding & Li, Chaoshun & Liu, Dong & Zhu, Zhiwei & Tan, Xiaoqiang, 2022. "Influence of water diversion system topologies and operation scenarios on the damping characteristics of hydropower units under ultra-low frequency oscillations," Energy, Elsevier, vol. 239(PE).
    12. 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.
    13. 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.
    14. Liu, Yi & Zhang, Jian & Liu, Zhe & Chen, Long & Yu, Xiaodong, 2022. "Surge wave characteristics for hydropower plant with upstream double surge tanks connected in series under small load disturbance," Renewable Energy, Elsevier, vol. 186(C), pages 667-676.
    15. Lan, Xinyao & Jin, Jiahui & Xu, Beibei & Chen, Diyi & Egusquiza, Mònica & Kim, Jin-Hyuk & Egusquiza, Eduard & Jafar, Nejadali & Xu, Lin & Kuang, Yuan, 2022. "Physical model test and parametric optimization of a hydroelectric generating system with a coaxial shaft surge tank," Renewable Energy, Elsevier, vol. 200(C), pages 880-899.
    16. Xinran Guo & Yuanchu Cheng & Jiada Wei & Yitian Luo, 2021. "Stability Analysis of Different Regulation Modes of Hydropower Units," Energies, MDPI, vol. 14(7), pages 1-19, March.
    17. Huang, Sunhua & Xiong, Linyun & Wang, Jie & Li, Penghan & Wang, Ziqiang & Ma, Meilng, 2020. "Fixed-time synergetic controller for stabilization of hydraulic turbine regulating system," Renewable Energy, Elsevier, vol. 157(C), pages 1233-1242.
    18. Liu, Dong & Wang, Xin & Peng, Yunshui & Zhang, Hui & Xiao, Zhihuai & Han, Xiangdong & Malik, O.P., 2020. "Stability analysis of hydropower units under full operating conditions considering turbine nonlinearity," Renewable Energy, Elsevier, vol. 154(C), pages 723-742.
    19. Alizadeh Bidgoli, Mohsen & Yang, Weijia & Ahmadian, Ali, 2020. "DFIM versus synchronous machine for variable speed pumped storage hydropower plants: A comparative evaluation of technical performance," Renewable Energy, Elsevier, vol. 159(C), pages 72-86.
    20. Tan, Xiaoqiang & Li, Chaoshun & Liu, Dong & Wang, He & Xu, Rongli & Lu, Xueding & Zhu, Zhiwei, 2023. "Multi-time scale model reduction strategy of variable-speed pumped storage unit grid-connected system for small-signal oscillation stability analysis," Renewable Energy, Elsevier, vol. 211(C), pages 985-1009.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:rensus:v:144:y:2021:i:c:s136403212100174x. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Catherine Liu (email available below). General contact details of provider: http://www.elsevier.com/wps/find/journaldescription.cws_home/600126/description#description .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.