HHHIIILLL을을을이이이용용용한한한증증증기기기터터터빈빈빈...
54
工學碩士 學位論文 HIL을이용한증기터빈발전기 시뮬레이터 개발에 관한 연구 A Study ontheSimulatorDevelopmentofSteam TurbineGeneratorusingHIL 指導敎授 金 潤 植 2004年 2月 韓國海洋大學校 大學院 電氣電子工學科 張珉閨
Transcript of HHHIIILLL을을을이이이용용용한한한증증증기기기터터터빈빈빈...
HHHIIILLL AAA SSStttuuudddyyyooonnnttthhheeeSSSiiimmmuuulllaaatttooorrrDDDeeevvveeelllooopppmmmeeennntttooofffSSSttteeeaaammm
TTTuuurrrbbbiiinnneeeGGGeeennneeerrraaatttooorrruuusssiiinnngggHHHIIILLL
222000000444 222
...
:::
:::
:::
222000000333 111222
111 1
222 32.1 32.1.1 6
2.2 142.2.1 142.2.2 152.2.3 212.2.4 24
333 HHH///WWW 293.1 293.2 H/W 323.2.1HostPC 333.2.2TargetPC 333.2.3V/F 34
444 374.1HIL 374.2 414.3 42
555 46
48
AAA SSStttuuudddyyyooonnnttthhheeeSSSiiimmmuuulllaaatttooorrrDDDeeevvveeelllooopppmmmeeennntttooofff
SSSttteeeaaammm TTTuuurrrbbbiiinnneeeGGGeeennneeerrraaatttooorrruuusssiiinnngggHHHIIILLL
byJangMin-Kyu
DepartmentofElectricalandElectronicsEngineeringTheGraduateSchoolofKoreaMaritimeUniversity
Busan,RepublicofKorea
AAAbbbssstttrrraaacccttt
Steam turbine thatis run using stream among industry plant,powerplantorfacilitiesofvesselisselectedtheusageinelectricitygenerating mainly. This steam turbine generators compositiondepartmentisconsistedofsteam turbine,generatorandgovernor.Itisdifficultofsearchandexpensiveequipmentsarebulk.Canconsulttogetherdrivingofturbineandgeneratortocyberby
embodyingfrom engineofthishighpricetosimulator.Likethis,cancontrolorconfirm the function even ifdo notcombine governorphysicallyinsteam turbinedevelopmentstagebydoing.Developeddeviceisidealthatconnectandtestatthesurrounding
environmentdivisiondirectly butalotoftimes,researchexpenses
andriskbearingarerequiredtoequipthesurroundingenvironment.So,do testfordeviceusing simulator.Can improveefficiency ofexaminationcomposingthistestenvironmentbyHILS.Inthispaper,embodiedsimulatorincludingthissteam turbineand
generator by HILS.Heighten space utilization and composed asindustry PC of a PC 104 bus that hardly be influenced insurroundingsenvironment.CodedbyC codemodelingsteam turbineandgenerator.Through
D/A boardofsimulator,appearedspeedofrevolutionsignalgoesbydigitalgovernorthrough V/F converter.Compareinputvaluewithspeed command in digitalgovernor.So,send signalthatcontroldisplacementofactuatoratA/D board ofsimulator.Can confirmspeedsignalandactuatordisplacementsignalthatbecomeinputandoutputofsimulatorbyreal-time.Confirmedwhethersimulatordisplaysidlespeedandratedspeed
commandofdigitalgovernorproperly,andconfirmedwhetheroutputof simulator changes along the raiselow rate of the speed.Confirmedeffectivenessofsteam turbinesimulatorthatdesignandmanufacturesusingHILSfrom resultofabove.
1
, . , . . , ,
. ., . ,
, . . . HIL .,
, ,, .
. , , . , . , .[1-4] ,,,
HIL(HardwareIn-theLoop) .1 d-q
Matlab/Simulink/RealtimeWorkshop C . PC104 PC .HIL D/A
V/F . A/D . . Idle
, . HIL .
2
. . .
(1) (2)
, . . .[5]
. ,
, . , .
2.1
, . (thermalenergy) ()
, .
HP LP LP
Superheated steam
Reheatedsteam
Generator
Steam from HP turbine
Steam fromLP turbine
2.1 -
. , (exhauststeam) . 2.1
., , .
:,
, .
: :50170bar, :550C : :3040bar, :550C : :48bar, :250C,
:95mbar( )
, , . ., 2.2 .[6]
Steam
Turbine
VCV
V BY
V IV
Par
P
w
Steam to reheater
Steam to condenser
Steam to deaerator
p, T, w, h
2.2 -
,VCV - ,VBY - ,VIV - ,Par- , ,P- , - ,p-,T -,w - ,h- .
2.1.1
( ) . (steam chest) (inletpiping) (crossoverpiping) . (steam chest)
. . 2.3(b) TCH .
Governor-ControlledValves
SteamChest
ValvePosition
Steam
High Pressure TurbineSteam Flow
(a)
PGV mHPsTCH
F
+1
STEAM CHEST
(b)
2.3 :(a) (b)
6 2.4 . 2.5 . TCH,TRH, TCO (steam chest) (inletpiping),(reheaters), - (crossoverpiping)
.FVHP,FHP,FIP, FLP . (fraction)
2.1 .
VALVEPOSITION
CONTROLVALVESSTEAMCHEST
SHAFT
TO CONDENSER
HP
(a)
VALVEPOSITION
CONTROLVALVESSTEAMCHEST
REHEATER CROSSOVER
LP LP
TO CONDENSER
HP IP SHAFT
(b)
CONTROLVALVESSTEAMCHEST
HPVALVEPOSITION
REHEATER
IP
CROSSOVER
LP LPLP IP,LP SHAFTLP
LP LPLP HP,LP SHAFTLP
(c)
HP,LP SHAFT
(d)
VALVEPOSITION
CONTROLVALVESSTEAMCHEST
REHEATER
HP IP
CROSSOVER
LP LPLP LP
TO CONDENSER
LP SHAFT
2.4 (a)Nonreheat(b)Tandem Compound,SingleReheat(c)CrossCompound,SingleReheat(d)CrossCompound,SingleReheat
sTCH+11
P GV PM
sTCH+11
PGV
PM1
sTRH+11
sTCO+11
FHP
FIP
FLP/2
++
FLP/2
+
+
PM2
sTCH+11
PGV
P M2
sTCO+11
FHP F IP
FLP
+
+
sTRH+11
P M1
(a)
(b)
(c)
(d)
sTCH+11
PM
sTCO+11
FHP FIP FLP
+
+ +
+
sTRH+11
GVP
2.5 (a)Nonreheat(b)Tandem Compound,SingleReheat(c)CrossCompound,SingleReheat(d)CrossCompound,SingleReheat
Steam SystemConfiguration
TypicalCylinderFractions TypicalTimeConstants
FVHP FHP FIP FLP TCHTRHTRH1
TRH2 TCONonreheatFig.11(a) .2-.5 Tandem
CompoundSingleReheatFig.11(b)
.3 .4 .3 .1-.4 4-11 .3-.5
CrossCompoundSingleReheatFig.11(c)
.3 .3 .4 .1-.4 4-11 .3-.5
CrossCompoundSingleReheatFig.11(d)
.25 .25 .5 .1-.4 4-11 .3-.5
2.1
2.6 . 2.2 2.5 2.6 .[7-12]
11
1
sT+P GV
31
1
sT+
k1
+
21
1
sT+ 411
sT+
k2 k4 k6
k3 k5
+
k7
k8
PM1
PM2
+
+
+
+
+
+
+
+ +
+
2.6
SystemDescription
TimeConstants FractionsT1 T2 T3 T4 K1 K2 K3 K4 K5 K6 K7 K8
Nonreheat(Figure12a)TCH 1 0 0 0 0 0 0 0TandemCompound,SingleReheat
(Figure12b)
TCH TRH TCO FHP 0 FIP 0 FLP 0 0 0
CrossCompound,SingleReheat
(Figure12c)
TCH TRH TCO FHP 0 0 FIP FLP/2FLP/2 0 0
CrossCompound,SingleReheat
(Figure12d)
TCH TRH TCO FHP 0 FIP 0 0 FLP 0 0
2.2
2.1 2.2 . 1 . 1 63% ( 37% ) 63% . 2.8 2.3
. (steam chest) .
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 20
0.2
0.4
0.6
0.8
1
2.7
2.7 0.35. 1 0.35 0.63 .
0 3 6 9 12 150
0.2
0.4
0.6
0.8
1
2.8
1 .
SystemDescription
TimeConstants FractionsT1 T2 T3 K1 K3 K5
( 15)
TCH0.35
TRH10
TCO0.45
FHP0.3
FIP0.4
FLP0.3
2.3
2.2
2.2.1
3 3 (armature) (field) . (damper) ., (stator) , . , , .( .) , ., , ( ) . 3 .[13] .
(1) MMF .
(2) . .
(3) . Carter'sfactor . = 0- 2cos(Ps) , 0 2 .
, .
2.2.2
n+1 .n 1 . n . . . Kirchoffs
. , short . 0 . ,
. . . , . . ,
. . d . q d 90 ., a q . ,dq
. . abc dq .
T= 23
sin sin(- 23) sin(+23)
cos cos(- 23) cos(+23) (2.1)
(dq abc ) .
Tinv= 23
sin cossin(- 23) cos(-
23)
sin(+ 23) cos(+23)
(2.2)
(2.1) (2.2) .
(t)=t
0()d+ 0 (2.3)
() .,abc fa,fb, fc dq
fd,fq T .,
[ ]fdfq =T
fafbfc
(2.4)
,
fafbfc=Tinv[ ]fdfq (2.5)
(2.1) (2.2) . ,abc dq . abc dq ,
.
vd=-Rsid- -(Lls+Lmd)diddt+Lmddifddt+Lmd
dikddt (2.6)
vq=-Rsiq+ -(Lls+Lmq)diqdt+Lmqdikqdt (2.7)
,
d=-(Lls+Lmd)id+Lmd(ifd+ikd) (2.8)
q=-(Lls+Lmq)iq+Lmqikq (2.9)
vfd=Rfdifd-Lmddiddt+(Llfd+Lmd)difddt+Lmd
dikddt (2.10)
0=Rkdikd-Lmddiddt+Lmddifddt+(Llkd+Lmd)
dikddt (2.11)
0=Rkqikq-Lmqdiqdt+(Llkq+Lmq)dikqdt (2.12)
. : vd : d vq : q id : d iq : q vfd : ( ) ifd : ( ) ikd :d ( ) ikq :q ( ) d :d
q :q Rs : Lls : Lmd :d Rfd : ( ) Llfd : ( ) Rkd :d ( ) Llkd :d ( ) Lmq :q Rkq :q ( ) Llkq :q ( )
(2.6)-(2.12) 2.9 .
+
+
+
+
Lls
vfd
id
iq
vd
vq
Rs
Rs
LlkdLlfd
Lmd
Lls
LmqLlkq
Rfd Rkd
Rkq
q
d
2.9
,
(1)D q . . ac , , , dc .
(2) , . d q . ,
(3) , . .
(4) ., , , .
. , . . .
. , ,
.
2.2.3
, abc .
va=Vpcosv (2.13)
vb=Vpcos(v- 23) (2.14)
vc=Vpcos(v+ 23) (2.15)
,
v= vt+ v0 (2.16)
,, v= . , . . a (+) . , .
= - v=t
0(()- v())d+ (0)- v(0) (2.17)
,(2.1) (2.13)-(2.15) ,dq .
vd= 32Vpsin(- v)=32Vpsin (2.18)
vq= 32Vpcos(- v)=32Vpcos (2.19)
(2.18) (2.19) , dq ac , ( ) dq .
q , d . ,
V= 13(vq+jvd) (2.20)
(2.20) V (2.13)(2.15) va,vb, vc . j . rms . 2.10 dq t=0 3V . 3V dq
. va,vb, vc a,b, c 2V .
a
b
c
d
v
i
v
i
q
d
d
q
q
j
I3
V3
2.10
3I V .abc a,b,c 2I . () d q .
id= 32Ipsin(+ ) (2.21)
iq= 32Ipcos(+ ) (2.22)
Ip .
2.2.4
2.9 . . 2
. .[14]
D Ld
Ld=Lls+Lmd (2.23)
D Ld'
Ld'=Lls+ LmdLlfdLmd+Llfd (2.24)
D Ld''
Ld''=Lls+ LmdLlfdLlkdLmdLlfd+LmdLlkd+LlfdLlkd(2.25)
Q Lq
Lp=Lls+Lmq (2.26)
Q Lq''
Lq''=Lls+ LmqLlkqLmq+Llkq (2.27)
D Td0'
Td0'= Llfd+LmdRfd (2.28)
D Td'
Td'=Llfd+ LmdLlsLmd+Lls
Rfd (2.29)
D Td0''
Td''=Llkd+ LmdLlfdLmd+Llfd
Rkd (2.30)
D Td''
Td''=Llkd+ LmdLlfdLlsLmdLlfd+LmdLls+LlfdLls
Rkd (2.31)
Q Tq0''
Tq0''= Llkq+LmqRkq (2.32)
Q Tq''
Tq''=Llkq+ LmqLlsLmq+Lls
Rkq (2.33)
3 . , , . Ld,Ld'',Td' Td'' , d . d( q)
. , . Ld,Ld'',Lq,Lq'',Td',Td0',Td'',Tq0'',Tq'',Tq0'' , d q . .
. . , . , .
, . ,
Delle-Alstholm . 2.4 . SSFT StandStillFrequencyResponse,RTDR RotatingTimeDomainResponse.[15]
d-qParametersper
AdkingsandHarley
UnitsBaseMVA20.65BasekV13.8
MfrData
[1]
SecondOrder ThirdOrder
SSFR RTDR SSFR
[2] [3] [4] [5] [6]
Synchronous
x1 pu 0.12 0.1066 0.1066 0.0366
Ra@100C 0.00183 0.00183
xd pu 1.67 1.703 1.703 1.824
xq pu 1.58 1.41 1.41 1.484
Transient
x'd pu 0.149 0.1675 0.1745 0.1906
T'do sec 4.61 6.326 5.954 5.273
x'q pu 1.58 0.5653 0.9206 1.110
T'qo sec 0.39 0.6206 2.436 3.858
Subtransient
x''d pu 0.116 0.1404 0.1721 0.157
T''do sec 0.023 0.0336 1.0610 1.008
x''q pu 0.124 0.2747 0.5465 0.5502
T''qo sec 0.065 0.0620 0.3879 0.4009
2.4
3 H/W
3.1
DigitalGovernor
ACTUATOR
EXHAUST
MPUGENERATOR
Plant
3.1
MPU(Magneticpickup) (Governor) (Actuator) . MPU
. , . , , . ,
. . ,
.3.2 .
DigitalGovernor
PC/104
Tower PC
A/DConverter
D/AConverter
Governor
Actuator Position
V/F
Frequency
Steam Pressure
Power
RS232
Simulator
- MatLab 6.1 & Simulink- xPC Target
ACTUATOR
EXHAUST
DigitalGovernor
3.2
4 .
(1) PC , PC, . Matlab/Simulink/xPCTarget , VisualC++ .
(2) PC . . PC PC .
(3) .
(4) MPU V/F .
PC C . PC RS-232 . PC . . 4
, , . pu pu .,X- 1000ms/div .Y- -0.21.2 0.2 .
.
.
3.3
3.2 H/W
H/W PC, PC, PC I/O , PC RS-232 .
3.4
3.2.1 PC(HostPC)
xPCTarget PC Windows95,windows2000,window NT .3.5 , Ethernet . PC PC .CPU
4 2.4GHz RAM 256MB. Matlab/Simulink/xPCTarget VisualC++.
3.2.2 PC(TargetPC)
PC Intel 386/486/Pentium AMD K5/K6/Athlonprocessor . 3.5 , ethernet .xPCTargetEmbeddedOption 3.5
. PC PC
PC104 .
, . .DC . . . .
3.5 PC I/O
3.2.3V/F
PC I/O 010V .
MPU V/F .V/F LM331IC ,
3.5 . CL ,DC VCL 0A .
ISW(ave)= IRL(ave)+ICL(ave) (3.1)
PWT Is=
V in+0.5VCRL +0
V inRL ,ifV in
VCL (3.2)
Fout= 1Tout V in
IsRLPW =V inRs
VrefRLLn(3)RTCT
= V inRS2.09RLRTCT (3.3)
IS
RLVin CL
0A ave
TIMER
ISW
3.6LM331
V in VL . RLCL V in .
,V/F . V in ,
.[16] 10mV 10V, 10Hz10kHz
.
in
thr
Ire
out
RC
Isw
gnd
Vcc
7
8
3
56
2 1
4
+15V
Vin
0.1uF
0.1uF
100k
RB
100k
RL
47 5k
12k
0.01uF
CT
6.8k
RT10k
RP
1uF
CL
LLLLMMMM333333331111
+10mVto
+10V10Hz
to10kHz
Fout
Fmaxadjust
RS
3.7V/F
3.8705 V/F
4
4.1 HIL
. , ,HIL ,, .HIL SUT(System UndertheTest)
SUT . SUT .SUT .SUT .SUT . 4.1 HIL .
EmbeddedSystem(SUT)
Real-TimeSimulation
Sensor input signals
Operator commands
Actuator control signals
Operator displays
4.1HIL
4.1 SUT . , SUT . .,I/O . .HIL
. , , , .
. / . HIL
. verification validation .verification SUT
. SUT .verification SUT HIL .validation
.validation
HIL . . HIL , .
.HIL 4.2 . HIL .
I/O, shutdown
. HIL . . I/O . . .
Initialize simulationand hardware
Read from inputdevices
Write to outputdevices
Delay until time tostart next frame
Evaluate simulationmodels
End of run?
Shutdown simulationand hardware
Integrate statevariables
Yes
Initialization
Dynamic Loop
Shutdown
No
4.2HIL
4.2
4mA - 20mA(Actuator
Signal)
1V - 5V(shunt
)
0V - 5V(Scaling)
0V - 1V(pu )
Steam Turbine
GeneratorModel
V/F Converter
( )Digital
Governor
A/D D/ASimulator
4.3
420mA shunt 15V . pu 01V . 4.4 Matlab/Simulink
. . .
4.4
4.3
705 4.1 HIL.2 , Idle
Idle . , % .
. . 1 20[rpm], 1 31[rpm] .
4.1705
Setting Dynamics
Raiselimit 2000[rpm] Gain1 0.1379
Lowerlimit 505[rpm] Reset1 0.06
Ratedspeed 1200[rpm] Compensation1 0.4
Idlespeed 600[rpm] Gain2 0.10279
Raiserate 1200[rpm/min] Reset2 1.0
Lowerrate 1854[rpm/min] Compensation2 0.2
droop 0[%]
gain,reset compensation P,I D .gain .gain , .reset . 0 . , slow hunting overshoot .compensation . 4.5 4.6 600rpm Idle 1200rpm
. , .
. PID , . 4.7 4.8
. 1200rpm 12% . 46 1200rpm/min ,8 1340rpm 13.4% . 1854rpm/min 31rpm . .
4.5Idle-Rated
4.6
4.7
4.8
5
HIL . . .
, . HIL
.
1. , PID .
2. Matlab xPC Target , HIL .
3. 600rpm Idle 1200rpm , .
4.1200rpm 12%
1200rpm/min ,7 1340rpm . 1854rpm/min , 31rpm .
HIL . , .
[1],", ",,1995.[2] 7," HILS ",,Vol.7,No.1,pp.317-319,2003.
[3]," ",,,1999.
[4] 6, ABSECU HILS ,2001 Session,pp.104-106.
[5]," ",,1999.[6]A.W.Ordys,A.W.Pike,M.A.Johnson,R.M.KatebiandM.J.Grimble, "ModellingandSimulationofPowerGenerationPlants",GreatBritain,1994.
[7]IEEE Std122-1991,"IEEE RecommendedPracticeforFunctionaland Performance characteristics ofControlSystems forSteamTurbine-GeneratorUnits",InstituteofElectricalandElectronicsEngineers,1991.
[8]IEEE PowerSystem Engineering Committee Report,"DynamicmodelsforSteam andHydroTurbinesinPowerSystem Studies"IEEE Transactions on Power Apparatus and Systems,Vol.PAS-92,No.6,Nov./Dec.,pp.1904-1915,1973.
[9]IEEE PowerSystem Engineering Committee Report,"DynamicmodelsforSteam andHydroTurbinesinPowerSystem Studies"IEEE Transactions on Power Apparatus and Systems,Vol.PAS-92,No.6,Nov./Dec.,pp.1904-1915,1973.
[10]T.J.Hammons,R.J.Fleming andM.H.EwerBibliography ofliterature on steam turbine-generator controlsystems,IEEEcommitteereport,IEEE Transactions on PowerApparatusandSystems,Vol.PAS-109,(9),pp.2959-2970,1983.
[11] 4, ,,1998.[12] 3 ,,,1998.[13] "Modeling and Control of a Synchronous Generator withElectronic Load",Ivan Jadric,http://scholar.lib.vt.edu/theses/available/etd-22198-124235/unrestricted/etdtext.pdf.
[14]Kyung-Sun Choi,"A study on the modeling ofgeneratorcontrolsytem usingloadrejectionTest& Enhancementofpowersystem stabilitybyFuzzy-Pss",, ,1998.
[15]P.A.ERusche.PE,GregoryJBrock,LouisN hannett,JohnnyR Willis,Testand Simulation ofNetwork DynamicResponseUsing SSFR andRIDR DerivedSynchronousMachineModels,IEEE TransactionsonEnergyConversion,Vol5,No.1,March1990,pp.145-151.
[16]http://elearning.algonquincollege.com/coursemat/saurioc/ELE-3/ELE-3-NOTES/V-F-CONVERTER.pdf.
1 2 2.1 2.1.1
2.2 2.2.1 2.2.2 2.2.3 2.2.4
3 H/W 3.1 3.2 H/W3.2.1 Host PC3.2.2 Target PC3.2.3 V/F
4 4.1 HIL 4.2 4.3
5
