Post on 10-Jul-2020
setpoint
setpoint
actual
actual
setpoint
D
P
I
Droop
Antiw-u
reff
f
ref
setpoint
1
openT
1
close aT1
close bT
1
s
1
actuators
1
1s
delayse
1
sT
d
dt
1
openT
1
close aT
1
close bT
1
s
1
actuators
1
1s
delay se
1
sT
ddt
setpoint
f
D
P
I
Droop
Antiwindup
reff
f
,ref e refP
eP
setpoint
Antiwindup
1
s
setpoint
Invertedcombinationf Actual turbine blade
position
Wicket gate setpointposition
min1
1
s
AWK
Governorsetpoint
setpoint
HQ
reff
ref
Wicket gateactuator, servo
Combinationunit
Propeller bladesactuator, servo
Turbine
Penstock
Generatorand grid
eP
Inversecombination
unit
offsetf f
mP
M
f
f
reff
f
ref
setpoint
1
D
D
K sK
sN
PKpe
IK
s
f
min
1
AWK
1
openT
1
close aT
1
close bT
1
s
1
actuators
1
1s
delayse
1
sT
d
dt
positionsetpoint
Governorsetpoint
fixed
reff
ref
,e fixedP
ff
mP
M
ff
Actuatorsand servos
Turbine andpenstock
Generatorand grid
Governor
setpoint
setpoint
HQ
reff
ref
Wicket gateactuator, servo
Combinationunit
Propeller bladesactuator, servo
Turbine
Penstock
Generator andgrid
.c o m b
o f f s e t
f fmP
M
,e fixedP
H
QTurbine Penstock
M
f
00.20.40.60.8
1
0 10 200
0.20.40.60.8
1
Time [s]
,