Speedtronic Mark VI Turbine Control System: GE Power Systems
Speedtronic Mark VI Turbine Control System: GE Power Systems
Speedtronic Mark VI Turbine Control System: GE Power Systems
GE Power Systems
SPEEDTRONIC TM
Mark VI Turbine
Control System
Walter Barker
Michael Cronin
GE Power Systems
Schenectady, NY
SPEEDTRONIC™ Mark VI Turbine Control System
CONTENTS
Introduction ........................................................................................................................................4
Architecture........................................................................................................................................4
Triple Redundancy...........................................................................................................................6
Communications ............................................................................................................................14
Diagnostics.......................................................................................................................................16
Power..................................................................................................................................................18
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Environment .....................................................................................................................................20
Temperature...................................................................................................................................20
Humidity........................................................................................................................................20
Elevation........................................................................................................................................21
Dust Contaminants.........................................................................................................................21
Documentation ................................................................................................................................21
Manuals .........................................................................................................................................21
Drawings........................................................................................................................................22
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Introduction
Architecture
The heart of the control system is the Control Module, which is available in
either a 13- or 21-slot standard VME card rack. Inputs are received by the Control
Module through termination boards with either barrier or box-type terminal
blocks and passive signal conditioning.
Each I/O card contains a TMS320C32 DSP processor to digitally filter the data
before conversion to 32 bit IEEE-854 floating point format. The data is then
placed in dual port memory that is accessible by the on-board C32 DSP on one
side and the VME bus on the other.
I/O data is transmitted on the VME backplane between the I/O cards and the
VCMI card located in slot 1. The VCMI is used for “internal” communications
between:
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♦ I/O cards that may be contained in expansion I/O racks called Interface Modules
The main processor card executes the bulk of the application software at 10, 20,
or 40 ms depending on the requirements of the application. Since most
applications require that specific parts of the control run at faster rates (i.e., servo
loops, pyrometers, etc.), the distributed processor system between the main
processor and the dedicated I/O processors is very important for optimum system
performance. A QNX operating system is used for real-time applications with
multi-tasking, priority-driven preemptive scheduling, and fast-context switching.
Communication of data between the Control Module and other modules within
the Mark VI control system is performed on IONet. The VCMI card in the
Control Module is the IONet bus master communicating on an Ethernet 10Base2
network to slave stations. A unique poling type protocol (Asynchronous Drives
Language) is used to make the IONet more deterministic than traditional Ethernet
LANs. An optional Genius Bus™ interface can be provided on the main
processor card in Mark VI Simplex controls for communication with the
GE Fanuc family of remote I/O blocks. These blocks can be selected with the
same software configuration tools that select Mark VI I/O cards, and the data is
resident in the same database.
The Control Module is used for control, protection, and monitoring functions, but
some applications require backup protection. For example, backup emergency
overspeed protection is always provided for turbines that do not have a
mechanical overspeed bolt, and backup synch check protection is commonly
provided for generator drives. In these applications, the IONet is extended to a
Backup Protection Module that is available in Simplex and triple redundant
forms. The triple redundant version contains three independent sections (power
supply, processor, I/O) that can be replaced while the turbine is running. IONet is
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used to access diagnostic data or for cross-tripping between the Control Module
and the Protection Module, but it is not required for tripping.
Triple Redundancy
Mark VI control systems are available in Simplex and Triple Redundant forms
for small applications and large integrated systems with control ranging from a
single module to many distributed modules. The name Triple Module Redundant
(TMR) is derived from the basic architecture with three completely separate and
independent Control Modules, power supplies, and IONets. Mark VI is the third
generation of triple redundant control systems that were pioneered by GE in
1983. System throughput enables operation of up to nine, 21-slot VME racks of
I/O cards at 40 ms including voting the data. Inputs are voted in software in a
scheme called Software Implemented Fault Tolerance (SIFT). The VCMI card in
each Control Module receives inputs from the Control Module back-plane and
other modules via “its own” IONet.
Data from the VCMI cards in each of the three Control Modules is then
exchanged and voted prior to transmitting the data to the main processor cards
for execution of the application software. Output voting is extended to the turbine
with three coil servos for control valves and 2 out of 3 relays for critical outputs
such as hydraulic trip solenoids. Other forms of output voting are available,
including a median select of 4-20ma outputs for process control and 0-200ma
outputs for positioners.
Sensor interface for TMR controls can be either single, dual, triple redundant, or
combinations of redundancy levels. The TMR architecture supports riding
through a single point failure in the electronics and repair of the defective card or
module while the process is running. Adding sensor redundancy increases the
fault tolerance of the overall “system.” Another TMR feature is the ability to
distinguish between field sensor faults and internal electronics faults. Diagnostics
continuously monitors the 3 sets of input electronics and alarms any
discrepancies between them as an internal fault versus a sensor fault. In addition,
all three main processors continue to execute the correct “voted” input data.
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I/O Interface
There are two types of termination boards. One type has two 24-point, barrier-
type terminal blocks that can be unplugged for field maintenance. These are
available for Simplex and TMR controls. They can accept two 3.0mm2
(#12AWG) wires with 300-volt insulation. Another type of termination board
used on Simplex controls is mounted on a DIN rail and has one, fixed, box-type
terminal block. It can accept one 3.0mm2 (#12AWG) wire or two 2.0mm2
(#14AWG) wires with 300-volt insulation.
I/O devices on the equipment can be mounted up to 300 meters (984 feet) from
the termination boards, and the termination boards must be within 15m (49.2’)
from their corresponding I/O cards. Normally, the termination boards are
mounted in vertical columns in termination cabinets with pre-assigned cable
lengths and routing to minimize exposure to emi-rfi for noise sensitive signals
such as speed inputs and servo loops.
Discrete I/O: A VCRC card provides 48 digital inputs and 24 digital outputs. The
I/O is divided between 2 Termination Boards for the contact inputs and another 2
for the relay outputs.
Analog I/O: A VAIC card provides 20 analog inputs and 4 analog outputs. The
I/O is divided between 2 Termination Boards. A VAOC is dedicated to 16 analog
outputs and interfaces with 1 barrier-type Termination Board or 2 box-type
Termination Boards.
CLICK TO VIEW Table 2. Analog I/O
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In addition to general purpose I/O, the Mark VI has a large variety of cards that
are designed for direct interface to unique sensors and actuators. This reduces or
eliminates a substantial amount of interposing instrumentation in many
applications. As a result, many potential, single-point failures are eliminated in
the most critical area for improved running reliability and reduced long-term
maintenance. Direct interface to the sensors and actuators also enables the
diagnostics to directly interrogate the devices on the equipment for maximum
effectiveness. This data is used to analyze device and system performance. A
subtle benefit of this design is that spare-parts inventories are reduced by
eliminating peripheral instrumentation. The VTUR card is designed to integrate
several of the unique sensor interfaces used in turbine control systems on a single
card. In some applications, it works in conjunction with the I/O interface in the
Backup Protection Module described below.
Speed (Pulse Rate) Inputs: Four-speed inputs from passive magnetic sensors are
monitored by the VTUR card. Another two-speed (pulse rate) inputs can be
monitored by the servo card VSVO, which can interface with either passive or
active speed sensors. Pulse rate inputs on the VSVO are commonly used for
flow-divider feedback in servo loops. The frequency range is 2-14k Hz with
sufficient sensitivity at 2 Hz to detect zero speed from a 60-toothed wheel. Two
additional passive speed sensors can be monitored by “each” of the three sections
of the Backup Protection Module used for emergency overspeed protection on
turbines that do not have a mechanical overspeed bolt. IONet is used to
communicate diagnostic and process data between the Backup Protection Module
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CLICK TO VIEW Table 5. VPRO I/O Terminations from Backup Protection Module
An external synch check relay is connected in series with the internal K25P
synch permissive relay and the K25 auto synch relay via the TTUR. Feedback of
the actual breaker closing time is provided by a 52G/a contact from the generator
breaker (not an auxiliary relay) to update the database. An internal K25A synch
check relay is provided on the TTUR; however, the backup phase / slip
calculation for this relay is performed in the Backup Protection Module or via an
external backup synch check relay. Manual synchronizing is available from an
operator station on the network or from a synchroscope.
Shaft Voltage & Current Monitor: Voltage can build up across the oil film of
bearings until a discharge occurs. Repeated discharge and arcing can cause a
pitted and roughened bearing surface that will eventually fail through accelerated
mechanical wear. The VTUR / TTUR can continuously monitor the shaft-to-
ground voltage and current, and alarm at excessive levels. Test circuits are
provided to check the alarm functions and the continuity of wiring to the brush
assembly that is mounted between the turbine and the generator.
Flame Detection: The existence of flame either can be calculated from turbine
parameters that are already being monitored or from a direct interface to Reuter
Stokes or Honeywell-type flame detectors. These detectors monitor the flame in
the combustion chamber by detecting UV radiation emitted by the flame. The
Reuter Stokes detectors produce a 4-20ma input. For Honeywell flame scanners,
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the Mark VI supplies the 335Vdc excitation and the VTUR / TRPG monitors the
pulses of current being generated. This determines if carbon buildup or other
contaminates on the scanner window are causing reduced light detection.
Trip System: On turbines that do not have a mechanical overspeed bolt, the
control can issue a trip command either from the main processor card to the
VTUR card in the Control Module(s) or from the Backup Protection Module.
Hydraulic trip solenoids are wired with the negative side of the 24Vdc/125Vdc
circuit connected to the TRPG, which is driven from the VTUR in the Control
Module(s) and the positive side connected to the TREG which is driven from the
VPRO in each section of the Backup Protection Module. A typical system trip
initiated in the Control Module(s) will cause the analog control to drive the servo
valve actuators closed, which stops fuel or steam flow and de-energizes (or
energizes) the hydraulic trip solenoids from the VTUR and TRPG. If cross-
tripping is used or an overspeed condition is detected, then the VTUR/TRPG will
trip one side of the solenoids and the VPTRO/TREG will trip the other side of
the solenoid(s).
Servo Valve Interface: A VSVO card provides 4 servo channels with selectable
current drivers, feedback from LVDTs, LVDRs, or ratio metric LVDTs, and
pulse-rate inputs from flow divider feedback used on some liquid fuel systems. In
TMR applications, 3 coil servos are commonly used to extend the voting of
analog outs to the servo coils. Two coil servos can also be used. One, two, or
three LVDT/Rs feedback sensors can be used per servo channel with a high
select, low select, or median select made in software. At least 2 LVDT/Rs are
recommended for TMR applications because each sensor requires an AC
excitation source.
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measurements and Keyphasor® inputs are provided. Displays show the 1X and
unfiltered vibration levels and the 1X vibration phase angle; -24vdc is supplied
from the control to each Proximitor with current limiting per point. An optional
termination board can be provided with active isolation amplifiers to buffer the
sensor signals from BNC connectors. These connectors can be used to access
real-time data by remote vibration-analysis equipment. In addition, a direct plug
connection is available from the termination board to a Bently Nevada 3500
monitor. The 16 vibration inputs, 8 DC position inputs, and 2 Keyphasor inputs
on the VVIB are divided between 2 TVIB termination boards for 3,000 rpm and
3,600 rpm applications. Faster shaft speeds may require faster sampling rates on
the VVIB processor, resulting in reduced vibration inputs from 16-to-8.
Three phase PT & CT monitoring: The VGEN card serves a dual role as an
interface for 3 phase PTs and 1 phase CTs as well as a specialized control for
Power-Load Unbalance and Early-Valve Actuation on large reheat steam
turbines. The I/O interface is split between the TGEN Termination Board for the
PT and CT inputs and the TRLY Termination Board for relay outputs to the fast
acting solenoids; 4-20ma inputs are also provided on the TGEN for monitoring
pressure transducers. If an EX2000 Generator Excitation System is controlling
the generator, then 3 phase PT and CT data is communicated to the Mark VI on
the network rather than using the VGEN card.
Optical Pyrometer Inputs: The VPYR card monitors two LAND infrared
pyrometers to create a temperature profile of rotating turbine blades. Separate,
current limited +24Vdc and -24Vdc sources are provided for each Pyrometer that
returns four 4-20ma inputs. Two Keyphasors are used for the shaft reference. The
VPYR and matching TPYR support 5,100 rpm shaft speeds and can be
configured to monitor up to 92 buckets with 30 samples per bucket.
CLICK TO VIEW Table 10. VPYR I/O Terminations from Control Module
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Operator Interface
♦ An engineer’s workstation
All control and protection is resident in the Mark VI control, which allows the
HMI to be a non-essential component of the control system. It can be reinitialized
or replaced with the process running and with no impact on the control system.
The HMI communicates with the main processor card in the Control Module via
the Ethernet based Unit Data Highway (UDH). All analog and digital data in the
Mark VI is accessible for HMI screens, including the high resolution time tags
for alarms and events.
System (process) alarms and diagnostics alarms for fault conditions are time
tagged at frame rate (10/20/40 ms) in the Mark VI control and transmitted to the
HMI alarm management system. System events are time tagged at frame rate,
and Sequence of Events (SOE) for contact inputs are time tagged at 1 ms on the
contact input card in the Control Module. Alarms can be sorted according to ID,
Resource, Device, Time, and Priority. Operators can add comments to alarm
messages or link specific alarm messages to supporting graphics.
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setpoint or entering a numerical value for the new setpoint. Responses to these
commands can be observed on the screen one second from the time the command
was issued. Security for HMI users is important to restrict access to certain
maintenance functions such as editors and tuning capability, and to limit certain
operations. A system called “User Accounts” is provided to limit access or use of
particular HMI features. This is done through the Windows NT User Manager
administration program that supports five user account levels.
Software frame rates of 10, 20, and 40 ms are supported. This is the elapsed time
that it takes to read inputs, condition the inputs, execute the application software,
and send outputs. Changes to the application software can be made with
password protection (5 levels) and downloaded to the Control Module while the
process is running. All application software is stored in the Control Module in
non-volatile flash memory.
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separate software package for virtually any 95 or NT based PC. The same tools
are used for EX2000 Generator Excitation Systems, and Static Starters.
Communications
Communications are provided for: internal data transfer within a single Mark VI
control, communications between Mark VI controls and peer GE control systems,
and external communications to remote systems such as a plant-distributed
control system (DCS).
40 ms is fast enough to close control loops on the UDH; however, control loops
are normally closed within each unit control. Variations of this exist, such as
transmitting setpoints between turbine controls and generator controls for voltage
matching and var/power-factor control. All trips between units are hardwired
even if the UDH is redundant.
The UDH communication driver is located on the Main Processor Card in the
Mark VI. This is the same card that executes the turbine application software;
therefore, there are no potential communication failure points between the main
turbine processor and other controls or monitoring systems on the UDH. In TMR
systems, there are three separate processor cards executing identical application
software from identical databases. Two of the UDH drivers are normally
connected to one switch, and the other UDH driver is connected to the other
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The GE networks are a Class “C” Private Internet according to RFC 1918:
Address Allocation for Private Internets – February 1996. Internet Assigned
Numbers Authority (IANA) has reserved the following IP address space
192.168.1.1: 192.168.255.255 (192.168/16 prefix).
All operator commands that can be issued from an HMI can be issued from a
remote computer through the HMI(s) to the Mark VI(s), and the remote computer
can monitor any application software data in the Mark VI(s). Approximately 500
data points per control are of interest to a plant control system; however, about
1,200 points are commonly accessed through the communication links to support
programming screen attributes such as changing the color of a valve when it
opens.
♦ An RS-232 port with Modbus Slave RTU or ASCII communications from the Main
Processor Card. (Simplex: full capability. TMR: monitor data only – no commands)
♦ An RS-232 port with Modbus Master / Slave RTU protocol is available from the HMI.
♦ An RS-232/485 converter (half-duplex) can be supplied to convert the RS-232 link for
a multi-drop network.
♦ Modbus protocol can be supplied on an Ethernet physical layer with TCP-IP for faster
communication rates from the HMI.
♦ Ethernet TCP-IP can be supplied with a GSM application layer to support the
transmission of the local high-resolution time tags in the control to a DCS from the
HMI. This link offers spontaneous transmission of alarms and events, and common
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request messages that can be sent to the HMI including control commands and alarm
queue commands. Typical commands include momentary logical commands and
analog “setpoint target” commands. Alarm queue commands consist of silence (plant
alarm horn) and reset commands as well as alarm dump requests that cause the
entire alarm queue to be transmitted from the Mark VI to the DCS.
Time Synchronization
Diagnostics
Each circuit card in the Control Module contains system (software) limit
checking, high/low (hardware) limit checking, and comprehensive diagnostics for
abnormal hardware conditions. System-limit checking consists of 2 limits for
every analog input signal, which can be set in engineering units for high/high,
high/low, or low/low with the I/O Configurator. In addition, each input limit can
be set for latching/non-latching and enable/disable. Logic outputs from system
limit checking are generated per frame and are available in the database (signal
space) for use in control sequencing and alarm messages.
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range but inside the linear hardware operational range (before the hardware
reaches saturation). Diagnostic messages for hardware limit checks and all other
hardware diagnostics because the card can be accessed with the software
maintenance tools (Control System Toolbox). A composite logic output is
provided in the data base for each card, and another logic output is provided to
indicate a high/low (hardware) limit fault for any analog input or the associated
communications for that signal.
The alarm management system collects and time stamps the diagnostic alarm
messages at frame rate in the Control Module and displays the alarms on the
HMI. Communication links to a plant DCS can contain both the software
(system) diagnostics and composite hardware diagnostics with varying degrees of
capability depending on the protocol’s ability to transmit the local time tags.
Separate manual reset commands are required for hardware and system
(software) diagnostic alarms, assuming that the alarms were originally designated
as latching alarms, and no alarms will reset if the original cause of the alarm is
still present.
Hardware diagnostic alarms are displayed on the yellow “status” LED on the
card front. Each card front includes 3 LEDs and a reset at the top of the card
along with serial and parallel ports. The LEDs include: RUN: Green; FAIL: Red;
STATUS: Yellow.
Each circuit card and termination board in the system contains a serial number,
board type, and hardware revision that can be displayed; 37-pin “D” type
connector cables are used to interface between the Termination Boards and the J3
and J4 connectors on the bottom of the Control Module. Each connector comes
with latching fasteners and a unique label identifying the correct termination
point. One wire in each connector is dedicated to transmitting an identification
message with a bar-code serial number, board type, hardware revision, and a
connection location to the corresponding I/O card in the Control Module.
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Power
When a 120/240vac source is used, a power converter isolates the source with an
isolation transformer and rectifies it to 125Vdc. A diode high select circuit
chooses the highest of the 125Vdc busses to distribute to the Power Distribution
Module. A second 120/240vac source can be provided for redundancy.
Diagnostics produce an under-voltage alarm if either of the AC sources drop
below the under-voltage setting. For gas turbine applications, a separate
120/240vac source is required for the ignition transformers with short circuit
protection of 20A or less.
Safety Standards
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EN 50081-2
Generic Emissions Standards
EN 50082-2:1994
Generic Immunity Industrial Environment
EN 55011
Radiated and Conducted Emissions
IEC 61000-4-2:1995
Radiated RF Immunity
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ANSI/IEEE C37.90.1
Surge
EN 61010-1
IEC 529
Environment
Temperature
The control can be operated at 50°C during maintenance periods to repair air-
conditioning systems. It is recommended that the electronics be operated in a
controlled environment to maximize the mean-time-between-failure (MTBF) on
the components.
Humidity
5 to 95 percent non-condensing
Exceeds EN50178: 1994
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Elevation
Exceeds EN50178: 1994
Gas Contaminants
EN50178: 1994 Section A.6.1.4 Table A.2 (m)
Dust Contaminants
Exceeds IEC 529: 1989-11 (IP-20)
Documentation
Manuals
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Drawings
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