Impulse Water Turbines Pelton
Impulse Water Turbines Pelton
Impulse Water Turbines Pelton
Water turbines are used to generate electrical power, about 1/5 of the Worlds electric power is generated in this way. There are two main types of water turbine, Impulse and Reaction. The Pelton is an impulse turbine; the Francis and the Kaplan are reaction turbines. Figure 1shows a reservoir/turbine/generator arrangement. It will become apparent later that this is a Reaction Turbine power plant.
FIGURE 1 IMPULSE TURBINE In this section of the work we will study the Pelton Turbine which is the most common type of impulse water turbine. Some of the diagrams below are taken from Wikipedia where you will find a full description of this type of power generating machine. The design of a hydroelectric scheme is a multi-disciplinary project. As Mechanical Engineers our main interest is in the turbine, specifically in the mechanics of the buckets which are clearly shown in Figure 3 of the Pelton Wheel, and in Figure 4 which shows the nozzles that create the high velocity water jets that turn the wheel. Figure 2 shows a Pelton Wheel installation. This type of turbine is most suited to high head, low water volume conditions. The wheel runs in atmospheric air. The jets when they leave the nozzles are at high velocity and atmospheric pressure. The water when it leaves the blades (buckets) is at atmospheric pressure i.e. in an impulse turbine there is no pressure drop across the blades. The spent water falls into the tailrace. There is no hydraulic connection between the runner and the tailrace. The conditions that exist in a reaction turbine will not be dealt with at this time. 1
FIGURE 2
FIGURE 3
FIGURE 4 PELTON WHEEL SHOWING THE WATER NOZZLES. Before we can turn our attention to an actual turbine we must cover some preliminary theories. WATER NOZZLE A water nozzle, decreases pressure and increases velocity. Example 1. The volume flow rate of water through a 40 mm diameter pipe is 0.00377 m3/s. If this pipe terminates in a 25 mm diameter nozzle, determine (i) the velocity of the water at the nozzle exit, (ii) the pressure of the water at entry to the nozzle. Neglect losses. (i)
VEXIT NOZZLE
0.00377 4 (0.025)
2
7.68 m / s ANS
(ii) Apply Bernoullis Equation, between Entry to (1) to Exit from (2) the nozzle
(1) 40 mm (2)
JET
25 mm mmmm mm
p1 g Z1
V12 2g
Z1
p2 g
V22 2g
Z 2 ; and p2
p ATMOS
0.025 2 7.68 4 p1
1000 kg / m 3
In practice the high velocity water jet is created by a reservoir or dam, FIGURE 2 Example 2: This simple example illustrates the principle. Determine the velocity of the water at exit from the nozzle. Neglect losses. (1)
We need to study how the force that turns the Pelton Wheel is created. To do this we will commence by considering a simpler application, i.e. where the vane, blade or bucket is fixed. THRUST OF A JET On a vertical fixed plate
m kg/s
FIGURE 5 Newtons 1st Law: A body will continue in its state of rest or of uniform motion in a straight line unless acted upon by an external force. The water jet is brought to rest, so according to Newtons 1st Law there must be a force acting on the jet. Obviously this force is created by the fixed plate. We need only consider the force normal to the plate. Consider the force F, acting normal to the fixed plate when the velocity of the jet of water, normal to the plate, is reduced to zero velocity. The fixed plate exerts a force of F (N) which brings the jet to rest. Newtons 3rd Law: To every action there is an equal and opposite reaction The Jet force (F) is the Equal but opposite Reaction to the plate force (F). Newtons 2nd Law: The force acting on a body of constant mass is equal to the rate of change of its linear momentum. (the force equation F = ma comes from this law) Impulse = change in momentum. Impulse = impulsive force (N) x time of action of the force (s) = Ft (Ns) Momentum = m (kg) x V(m/s) = mV (Ns)
Ft
m(V2 V1 )
mass change in velocity m However : m( kg / s ) F m(change in velocity) t i .e The impulsive force (F) the rate of change of momentum. This is the force that changes the momentum i.e. it is the Plate Force acting on the Jet, and will give a negative value for F . (see later) F m(V2 V1 ) ( N ) ( 2)
Example 3. The velocity of a water jet is 35 m/s, and the mass flow rate of water is 7.2 kg/s. The jet is striking a flat vertical fixed plate. What is the jet force acting on the plate?
m(V2
V1 ) ( N ) F
7.29(0 35)
252 N
The reason for the negative value. + or are indicators of Direction Velocity is a VECTOR quantity, it has magnitude, sense and direction. Velocity changes if: its magnitude changes; or its direction changes; or its magnitude and direction changes. The diagram, above, shows the jet velocity as V m/s , this implies that is the positive direction. Therefore velocities and forces are +ve and velocities and forces are ve. It is the force exerted by the plate or vane on the water that changes the momentum of the water, therefore it is this force that the equation calculates, so the ve value is only indicating that the plate force is acting opposite to the jet direction. In this example the force of the plate on the water is 252 N , and the force of the jet on the plate is 252 N ANS THRUST ON A FIXED CURVE VANE OR BLADE. In this case the velocity does not change in magnitude, it does however change its direction, so there must be a force causing this change. 100m/s
20o
Example 4. A jet of water enters a fixed curved vane with a velocity of 100 m/s, follows the curve of the vane and leaves with a velocity of 100 m/s. The angle between the jet entering and leaving the vane is 20o. Determine the force acting on the vane. The mass flow rate of water is 8 kg/s. Sketch the absolute or relative to the Earth velocity vectors. (see later) o is a fixed earth point. Velocity vectors drawn from o are absolute velocities. Let oa = inlet velocity, and ob = the exit velocity 7
Resolve the vane inlet and exit velocities; horizontally and vertically . Take as the positive direction. I.e the horizontal component of velocity at inlet is 100 cos 10O = 98.48 m/s The vertical component at entry is 100 sin 10O = 17.36 m/s upwards The horizontal component of velocity at exit is 100 cos 10O = 98.48 m/s i.e -98.48 m/s The vertical component at exit is 100 sin 10O = 17.36 m/s upwards You will observe that there has been no change in velocity in the vertical (Y) direction. There has been a change in the horizontal (X) direction, from 98.48 m/s to 98.48 m/s. The force component in the X direction is
F F m(change in velocity) m(V2 V1 ) ( N )
F = 8( -98.48 98.48) = -1576 N In this case, because there in no change of velocity in the Y direction, there is no vertical component of force. The resultant force is -1576 N i.e 1576 N ; which as before gives the direction of the vane force acting on the water jet. The force of the jet on the vane is 1576 N ANS Example 5. Repeat the above example, taking as the positive direction. You should get the same answer. Example 6. A jet of water enters and leaves a fixed vane as shown in figure 8. Friction reduces the exit water velocity from 20 m/s to 18.5 m/s. The mass flow rate of the water is 0.5 kg/s. Determine: i. the X axis change in velocity: ii. the Y axis change in velocity: iii. the force acting in the direction of the X axis; iv. the force acting in the direction of the Y axis. v. The resultant force of the water jet on the vane.
20 m/s FIXED
+Y
o 60
O
20
+X
18.5 120o
X axis velocities: +20 m/s, - 18.5 cos 60O. Change in X axis velocity = (V2 V1) = -18.5 cos 60O 20 = -29.25 m/s ANS Force acting in X direction = 0.5 kg/s(-29.25) = -14.625 N ANS Or 14.625 N This is the force of the vane on the water jet. The X direction force of the water jet on the vane = 14.625 N ANS The Y direction change in velocity = -18.5 sin 60O. = -16 m/s ANS (i.e downwards) The vane force acting in the Y direction = 0.5 x -16 m/s = -8 N (i.e downwards) The jet force acting in the Y direction = 8 N (upwards) ANS The Resultant Force: Jet on vane.
R = 16.7
14.625 FIGURE 9 MOVING VANE or BLADE Before we can consider the forces acting on a moving vane or blade we must have a firm understanding of absolute and relative velocities. ABSOLUTE VELOCITY If you are an observer, standing still, observing the motion of a body or several bodies. You may consider yourself as an Earth Point (o), and you will be observing absolute or relative to the Earth velocities. Example 7: Draw the absolute velocity vectors for 3 cars. A is travelling N at 30 m/s, B is travelling E at 20 m/s and C is travelling W at 25 m/s. Absolute velocity vectors always commence at an earth point o. Use lower case for velocity vectors. 9
RELATIVE VELOCITY Before we discuss why an understanding of relative velocity is required, we will concentrate on how to determine the velocity of one body relative to another. (Do not try to visualise the velocity of one body relative to another, let vector analysis solve the problem). Example 8. (i) Determine the velocity of car B relative to car A. (ii) Determine the velocity of car C relative to car A. We imagine that the observer is in car A. It is a simple matter to draw velocity vectors when the observer is at rest, so let us bring the observer to rest.
-30 m/s
B rel to A FIGURE 11
C rel to A
-30 m/s
We must establish velocity balance, by adding the ve value of A to B and C. The results are the velocity of B relative to A and the velocity of C relative to A.
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Vector addition is when we add vectors, e.g. when determining a resultant force. In this case we are subtracting one vector from another, i.e. the velocity of one moving body relative to another moving body is by Vector Difference. There is a simpler way of determining the difference between 2 velocity vectors. Draw the absolute velocities from a common earth point; then complete the triangle.
a 30 m/s o
The velocity of B relative to A is vector ab The velocity of A relative to B is vector ba The velocity of C relative to A is vector ac The velocity of A relative to C is vector ca BODIES COLLIDING. Consider bodies A and B only. This diagram shows the position of the bodies with regard to each other, i.e. in terms of distance apart and angular relationship. Three supposed position of B are shown. The path of B relative to A is also shown. Remember, when we show B relative to A, we can assume A is fixed. 33.6O B2 B1 B3
DISPLACEMENT DIAGRAM FIGURE 13 From the displacement diagram you can see that the path of relative velocity, B relative to A must pass through A for collision to occur. The relative velocity paths of B relative to A drawn from B1 and B3, miss A. This analysis is the basis of collision studies, on land, sea or in the air. What significance has it for us? 11
In our case, to create a force which will move the blades, the high velocity water leaving the nozzle MUST collide with the moving blades, but this collision must occur without SHOCK. IMPULSE TURBINES with a blade profile as shown (steam turbines and some water turbines) Velocity of water relative to blades at outlet Vro Blade velocity U m/s
2
SPACE DIAGRAM
High velocity water leaves the nozzle, which is at angle to the horizontal. If the blade is at rest then this is the angle at which the water jet will impact the blade, but because the blade is moving the jet will impact at the angle 1, i.e the angle, to the horizontal, of the velocity of the water relative to the blade, Vri.. 1 depends on VAi, and U. 1 can be determined. A usual design consideration is that the water jet enters the blade without shock. This will be achieved if the blade inlet angle is 1. Example 9. With reference to the previous diagram, the velocity of water leaving a nozzle is 60 m/s. the blade velocity is 30 m/s. the nozzle is inclined at 20O to the horizontal (i.e = 20O). Determine the inlet angle of the blade if the water is to enter the blade without shock. Draw the absolute velocities of the water and the blade; owi and ob. Join the open end to give Vri. wi VAi Vri b FIGURE 15 Using the cosine rule. 20O U
o
Not To Scale
Vri Vri
2 (U 2 V Ai
2 2 U V Ai Cos )
(30 2
60 2
2 30 60 cos 20 o )
33.4 m / s
12
60 0.342 33.4
0.614
1
sine
37.9 O ANS
TO REVISE YOUR TRIGNOMENTAL RELATIONSHIPS GO TO:http://www.themathpage.com/atrig/functions-angle.htm We must investigate what is happening at the blade outlet. The water enters the blade at the relative velocity, water to blade at inlet (Vri). The water leaves the blade at the relative velocity, water to blade at outlet, (Vro). Blade outlet angle. In many cases 2 = 1, we will assume that this is the case here. Blade friction. In passing over the blade the magnitude of the relative velocity will be reduced by the effects of friction. In this case we will assume no relative velocity loss due to friction, i.e Vro = Vri. Example 10. Using the conditions given in the previous example. Draw the velocity diagram at outlet, and determine the absolute velocity of the water at outlet (magnitude and direction). The blade is symmetrical and friction may be neglected. Remember relative velocities cannot be drawn from an earth point. = 37.9O, Vro = 33.4 m/s. Recall, Vro is the velocity of the water relative to the blade at outlet i.e vector b wo
2
wo Vro
VAo o
NTS
COMBINING THE INLET AND OUTLET DIAGRAMS Because the blade velocity is common to both the inlet and outlet diagrams it is convenient to draw the combined diagram.
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wO Vro VAo o
NTS
TANGENTIAL AND AXIAL FORCES Recall from the work on fixed vanes. The change in velocity was resolved into 2 components, one in the X direction and the other in the Y direction, Figures 7 and 9. With reference to Figure 18, the axes have been relabelled as T and A. T is tangential to the Pitch Circle Diameter (PCD) of the runner. The PCD is measured at blade mid-height. A is in line with the runner shaft axis. The tangential and axial forces can be calculated when the velocities have been determined. The force F, which acts tangentially to the PCD is the force that drives the runner. Systems are designed so as the axial force is as low as possible. Axial force plays no part in developing power, it creates end thrust that has to be accommodated in the bearing design.
A
Runner (Rotor) F Bearing
Runner shaft
rad/s
PCD PCD
THE VELOCITY OF WHIRL. With reference to Figure 17, the VELOCITY OF WHIRL is the sum of the Tangential components of Vri and Vro. i.e it is the change in velocity of the water between inlet to and outlet from the blade
.
Then from equation F = rate of change in momentum in the direction of blade movement = mass flow rate x velocity of whirl.
F m VWHIRL (3)
i.e F acts tangentially to the PCD of the blade rotation circle, and is the force which drives the blade. TURBINE RUNNER POWER (this is the power developed by the rotor or runner as determined by velocity diagram values. This power is often referred to as the DIAGRAM POWER. This is the power transmitted to the rotor shaft. The actual power output from the turbine to the generator would have to take into consideration the friction power loss in, for example, the bearings and gearbox).
RUNNER POWER T (W ) ( 4) T F r ( Nm ) RUNNER POWER F r (W ) ( 5) OR . RUNNER POWER F Blade velocity (W ) ( 6) NOTE : blade velocity r (m / s) RUNNER POWER F r (W ) as before if N rotor speed in rev/min 2 N rad / s 60
Example 11. From the previous example Vri = 33.4 m/s, and Vro = 33.4 m/s, blade speed = 30 m/s. O 1 = 2 = 37.9 . The mass flow rate of water from the nozzle is 60 kg/s. Determine the runner power output. VWHIRL = tangential component of Vro + tangential component of Vri = Vri cos 37.9O + Vro cos 37.9O
m(Vri cos 37.9 V ro cos 37.9) 3160 N F blade speed 3160 30 94870 W 94.9 kW ANS
Runner Power
Example 12. An impulse steam turbine has blades of equal inlet and outlet angles. Steam leaves the nozzle with a velocity of 270 m/s. The nozzle is inclined at 11O to the direction of blade motion. The relative velocity at blade exit is 90% of the relative velocity at blade inlet. The mass flow rate of steam is 9.56 kg/s. The blade speed is 100 m/s. Determine: i. the velocity of Whirl, ii. the tangential force acting on the blade, and iii. the power (runner) output of the turbine. SOLVE THIS PROBLEM USING THE FOLLOWING METHODS: 1. By drawing a velocity diagram to scale. 2. Mathematically, using the rules of trigonometry. Either method is acceptable.
15
Always draw a space diagram, it need not be as elaborate as Figure 14, see Figure 19. The space diagram provides an opportunity to sort out the directions of the velocities.
Vro
16
FIGURE 20
VELOCITY DIAGRAM
(1) Draw the absolute velocity of the blade U, vector o b. Draw the absolute velocity of the steam at inlet VAi, vector o si Complete the inlet triangle by drawing the velocity of the steam relative to the blade at inlet, Vri, vector b si MEASURE: 1 = 17 O, therefore 2 = 17 O, Vri = 173 m/s therefore Vro = 0.9x173 = 156 m/s Draw the velocity of the steam relative to the blade at outlet Vro, vector b so Complete the outlet triangle by drawing the absolute velocity of the steam relative to the blade at outlet VAo, vector o so. RECALL: Absolute or velocities relative to the Earth always commence at the Earth point o Relative velocities do not commence or end at an Earth point. Velocity of Whirl, measure horizontally across the peaks VWHIRL = 314 m/s ANS 3. By calculation:
17
2 (U 2 V Ai
(100 2 V Ai sin
270 2
sine si b o
V Ai sin 11o 17.3o 1 Vri Vro 0.9 172.9 155.6m / s The velocity of whirl (Vri cos17.3o Vro cos17.3o ) 165 148.6 313.6 m / s ANS (VAi cos11O VAo cos )
m VWHIRL
9.56 313.6
F Blade Velocity
Vro SPLITTER U Vri Vri VAi wi VAi Vro Space Diagram FIGURE 21 Vri VWHIRL Vro b wo VAo o
.
U
Velocity Diagram
The bucket has a splitter that divides the water jet into two equal streams. The water enters the bucket in the direction of bucket movement, and is deflected through an angle . For the Pelton Wheel it is usual to state the deflection angle. Follow the rules for constructing the velocity diagram. Draw the absolute velocity of the buckets, U, vector o b. Draw the absolute velocity of the water jet, VAi, vector o wi. The velocity of the water relative to the blade at inlet, Vri, is vector b wi. 18
Draw the velocity of the water relative to the bucket at outlet, Vro, i.e. vector b wo The absolute velocity of the water relative to the blade at outlet is VAo, i.e vector o wo VWHIRL = Vri + Vro cos(180 ) (m/s) The tangential force causing motion = F x VWHIRL (N) Turbine Runner Power = F x VWHIRL x Bucket velocity Turbine Runner Power = F x VWHIRL x U (W) Example 13. A Pelton turbine has a blade speed of 14 m/s. The mass flow rate of water through the turbine is 700 kg/s. The effective head of the water supply above the jet is 30 m. The blades deflect the jet through 160O. There is no loss in relative velocity over the blade. Determine the runner power output of the turbine. We need to determine the velocity of the water leaving the jet i.e. VAi
V Ai
From Equation (1)
With reference to Figure 21. VWHIRL = Vri + Vro cos(180 ) (m/s) = (24.26 - 14) + ( 24.26 - 14) cos 20O. = 19.9 m/s
TURBINE RUNNER POWER OUTPUT POWER OUTPUT OF THE JET RATE OF K .E OUTPUT OF JET 1 2 mV Ai (W ) 2 (8)
(7)
Example 14. Continuing the previous example. What is the efficiency of the turbine runner?
RUNNER EFFICIENCY
19
RUNNER MAXIMUM EFFICIENCY This depends upon the relationship between the blade speed (U) and the velocity of the water at exit from the nozzle, (VAi). With reference to the velocity diagram in Figure 21. VWHIRL Vro wi VAi Vri b
.
U
wo VAo o
Velocity Diagram
FOR THIS ANALYSIS WE MUST USE VECTOR NOTATION. Recall that F = mass flow rate (change in velocity of the water in direction of the blade movement)
.
(3) i.e F m VWHIRL VWHIRL = In this case = ( Vrocos Vri) therefore F = mass flow rate( Vrocos Vri), you will recall from earlier work that this equation will give the force of the blade on the jet, i.e a ve value. However the tangential force of the jet on the blade is F (Vri Vro cos ) From the velocity diagram:
20
Vri F
V Ai
if there is no loss in relative velocity due to blade friction then Vro Vri U ) (V Ai U ) cos U m [(V Ai U ) (V Ai U ) cos ]
m(V Ai
EFFICIENCY (
If U if U
0 there is no blade movement V Ai the jet will not strike the blade 0 and U
R
V Ai there will be a
The runner efficiency will be a maximum when the slope of the runner efficiency v blade speed/jet speed ratio graph is 0 - - - - - - - -See Figure 22 Differenti ate equation (9) with respect to the blade speed. V Ai and U (V Ai
R
U )(1 cos ) 1 2 V Ai 2
d dU U V Ai
(V Ai
2U )
(10)
In practice, allowing for blade friction and windage, the ratio is about 0.48.
21
Maximum
Efficiency of runner
M)
MECHANICAL EFFICIENCY (
The actual power output from the turbine to the generator takes into consideration the friction power loss in, for example, the bearings and gearbox). NOZZLE EFFICIENCY (
N)
If there are losses in the nozzle, the water power at nozzle exit is less than the water power at nozzle inlet.
WATER POWER AT NOZZLE EXIT NOZZLE EFFICIENCY ( N ) WATER POWER AT NOZZLE INLET
mV 2 2 m gZ
V2 2 gZ
22
O)
ACTUAL POWER OUTPUT OF TURBINE WATER POWER AT NOZZLE INLET WATER POWER AT NOZZLE INLET N WATER POWER AT NOZZLE INLET
R M
Example 15. A Pelton turbine has an actual power output of 2 MW. The mechanical efficiency is 80%. The mean diameter of the buckets is 1.5 m, and the runner rotates at 1500 rev/min. The jet velocity is 1.8 times the bucket velocity. Blade friction factor is 0.97 and the angle of deflection is 165O. Determine; i. the bucket velocity, ii. the velocity of the water relative to the bucket at inlet, iii. the velocity of whirl, iv. the runner power, v. the water mass flow rate. vi. the runner efficiency, and vii. the overall efficiency assuming no loss at the nozzle, 1.5 2 1500 2 N 2 117.75m / s ANS Bucket velocity (U ) Mean radius of buckets 60 60 Vro SPLITTER U Vri Vri VAi wi VAi FIGURE 21 Vro Space Diagram The absolute velocity of the water at inlet (VAi) = 1.8 x 117.75 = 212 m/s The velocity of water relative to bucket at inlet = VAi U = 94.2 m/s ANS The velocity of the water relative to the bucket at outlet = 0.97 x 94.2 = 91.4 m/s The velocity of whirl = VWHIRL = Vri + Vro cos (180-165)O = 94.2 x 91.4 cos 15O = 182.5 m/s ANS Vri VWHIRL Vro b wo VAo o
.
U
Velocity Diagram
23
MECHANICAL EFFICIENCY (
THE ACTUAL POWER OUTPUT OF THE TURBINE TURBINE RUNNER POWER 2MW 2MW 0.8 TURBINE RUNNER POWER 2.5 MW ANS TURBINE RUNNER POWER 0.8
M
RunnerPowe r
m U VWHIRL
2.5 10 6
m 117.75 182.5
m 116.3 kg / s ANS
0.957 95.7% ANS
RUNNER EFFICIENCY
OVERALL EFFICIENCY (
76.6% ANS
RUNNER MAXIMUM POWER This depends upon the relationship between the blade speed (U) and the velocity of the water at exit from the nozzle, (VAi). The analysis follows the same form as for maximum efficiency. A graph of Runner power v Blade speed-Jet speed ratio is of the same shape. The analysis will result in the same ideal relationship. For Maximum Power
U V Ai
FIGURE 22
24
FIGURE 23
http://www.csus.edu/indiv/h/hollandm/ce135/Photos/PWPhotos.htm
Figure 22 shows a spear (needle valve), and Figure 23 shows the runner and needle valve, the runner is at rest. The dark section at the bottom of the glass is where the water drops out of the unit. The drive shaft is also shown. It is important, especially when generating electrical power, that irrespective of the load, the speed of the runner remains constant. The power output of the jet is a function of the mass flow rate and the jet velocity. Water Power at nozzle exit
mV 2 . When the power requirement of the load 2
varies the jet power must also vary. I.e. vary either m or V . However, the blade velocity/jet velocity determines the efficiency of the runner, so the runner output is varied by varying m . This is achieved by the design of the needle valve, which maintains a constant jet velocity, at a variable mass flow rate.
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