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Simulation Model of Hydro Power Plant Using Matlab/Simulink

Article in International Journal of Engineering Research and Applications · February 2014

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Mousa Sattouf Int. Journal of Engineering Research and Applications www.ijera.com
ISSN : 2248-9622, Vol. 4, Issue 1( Version 2), January 2014, pp.295-301

RESEARCH ARTICLE OPEN ACCESS

Simulation Model of Hydro Power Plant Using Matlab/Simulink

Mousa Sattouf*
*(Department of Electrical Power Engineering, Brno University of Technology, Czech Republic)

ABSTRACT
Hydropower has now become the best source of electricity on earth. It is produced due to the energy provided by
moving or falling water. History proves that the cost of this electricity remains constant over the year. Because
of the many advantages, most of the countries now have hydropower as the source of major electricity producer.
The most important advantage of hydropower is that t is green energy, which mean that no air or water pollutants
are produced, also no greenhouse gases like carbon dioxide are produced which makes this source of energy
environment-friendly. It prevents us from the danger of global warming. This paper describes a generalized
model which can be used to simulate a hydro power plant using MATLAB/SIMULINK. The plant consists of
hydro turbine connected to synchronous generator, which is connected to public grid. Simulation of hydro
turbine and synchronous generator can be done using various simulation tools, In this work,
SIMULINK/MATLAB is favored over other tools in modeling the dynamics of a hydro turbine and synchronous
machine. The SIMULINK program in MATLAB is used to obtain a schematic model of the hydro plant by
means of basic function blocks. This approach is pedagogically better than using a compilation of program code
as in other software programs .The library of SIMULINK software programs includes function blocks which can
be linked and edited to model. The main objectives of this model are aimed to achieve some operating modes of
the hydro plant and some operating tests.
Keywords – Hydro power plant, Synchronous machine, Hydro Turbine, Excitation.

I. INTRODUCTION speed based on the input signals of the deviations of

This paper describes the dynamic model of both system frequency and interchanged power with
the two main components of hydro power plants, the respect to the reference settings. This is to ensure
synchronous generator and the hydro turbine that the generator operates at or near nominal speed
governor. at all times.
The synchronous machine’s dynamic model Simulation of the three-phase synchronous
equations in the Laplace domain can be created by machine and hydro turbines is well documented in
connecting appropriate function blocks. In order to the literature and a digital computer solution can be
simulate the detailed transient analysis of the performed using various methods. This paper
synchronous machine, addition of new sub-models discusses the use of SIMULINK software of
is needed to model the operation of various control MATLAB, in the dynamic modeling of the hydro
functions. These sub-models are used in the plant components. The main advantage of
calculation of various values related to the SIMULINK over other programming software is
synchronous machine such as the steady state, that, instead of compilation of program code, the
exciter loop, turbine governor model and the simulation model is built up systematically by
currents. means of basic function blocks. To be able to model
Detailed mathematical representation of the the dynamics of the hydro power plant, dynamic
hydraulic turbine-penstock also presented in this behavior or differential equations of the
paper.. The dynamic performance of the hydraulic synchronous machine as well as hydro turbine need
system is studied using time domain and frequency to be considered.
domain methods. The introduced mathematical
representation of a hydraulic system is including II. SYNCHRONOUS MACHINE MODEL
both turbine-penstock and the governing system. This section describes a generalized model
The primary source for the electrical power which can be used to simulate a three-phase. P-pole,
provided by utilities is the kinetic energy of water symmetrical synchronous machine in rotating qd
which is converted into mechanical energy by the reference frame.
prime movers. The electrical energy to be supplied
to the end users is then transformed from 2.1 THE D–Q MODEL OF SYNCHRONOUS MACHINE
mechanical energy by the synchronous generators. A model of synchronous generator in q-d
The speed governing system adjusts the generator rotating reference frame was developed. The main

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aim of the d–q model is to eliminate the dependence

of inductances on rotor position. To do so, the
system of coordinates should be attached to the
machine part that has magnetic saliency- the rotor
for synchronous generators.[1]
The d–q model should express both stator
and rotor equations in rotor coordinates, aligned to
rotor d and q axes because, at least in the absence of
magnetic saturation, there is no coupling between
the two axes. The rotor windings f, D, Q are already
aligned along d and q axes.
It is only the stator voltages, VA, VB, VC,
currents IA, IB, IC, and flux linkages ΨA, ΨB, ΨC
that have to be transformed to rotor orthogonal
coordinates. The transformation of coordinates ABC
to d–q-0, known also as the Park transform, valid for
voltages, currents, and flux linkages as well, it is as
follows:

Fig.1 d and q axises of synchronous machine

2.2 VOLTAGE EQUATIONS OF THE SYNCHRONOUS

MACHINE
We shall next show the Voltage Equations
(1)
of a threephase, P-pole, symmetrical synchronous
machine in the rotating qd reference frame. Figure 2
Then will be:
showes the equivelant circuit of synchronous
machine in qd axises. The following sets of
equations (6),(7),(8),(9),(10),(11),(12),(13),(14)
describe the general model of synchronous
generator:[3]
(2)
(6)

(7)
(8)
(3)

(9)

(4)
The phase quantites, as phase currents IA, IB, IC are (10)
recovered from Id, Iq, I0 by:[2]

(11)

(5)

the q and d axis for The d–q model of synchronous (12)

machine are shown in Fig. 1[1]

(13)

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(16)

(14) Where P is poles number.

The resistances and inductances are
illustrated in the q and d equivalent circuits of III. HYDRO TURBINE MODEL
synchronous machine. in Fig.2. Power system performance is a acted by
dynamic characteristics of hydraulic governor-
turbines during and following any disturbance, such
as occurrence of a fault, loss of a transmission line
or a rapid change of load. Accurate modeling of
hydraulic governor-turbines is essential to
characterize and diagnose the system response
during an emergency. Simple hydraulic systems
governed by proportional-integral-derivative and
proportional-integral controllers are modeled. This
model examines their transient responses to
disturbances through simulation in
Matlab/Simulink.[4]

Fig.3 block diagram of the hydraulic governor-

turbine system

Fig.2 The q and d equivalent circuits of synchronous Fig.3 shows a block diagram of the
machine hydraulic governor-turbine system connected to a
Where: power system network. The primary source for the
, flux linkages among d and q axes. electrical power provided by utilities is the kinetic
, mutual flux linkages among d and q axes energy of water which is converted into mechanical
, d and q currents. energy by the prime movers. The electrical energy
to be supplied to the end users is then transformed
, flux linkages of damper coils among d and from mechanical energy by the synchronous
q axes generators. The speed governing system adjusts the
, currents of damper coils among a and q axes generator speed based on the input signals of the
deviations of both system frequency and
2.3 TORQUE EQUATION interchanged power with respect to the reference
The equation of motion of the rotor is settings. This is to ensure that the generator operates
obtained by equating the inertia torque to the at or near nominal speed at all times. The hydraulic
accelerating torque, that is: unit characteristic of a single penstock is:

(15) (17)

Where J is the inertia torque of the rotor, is the (18)

electromagnetic torque, is the externally-
Where q is turbine flow, is initial
applied torque in the direction of the rotor speed and
steady-state head, h is hydraulic head at gate, is
is the damping torque in the direction head losses due to friction in the conduit,
opposite to rotation. The value of will be is gravity acceleration, A ispenstock cross section
negative for the motoring condition.[1] area, L is conduit length, is ideal gate opening
The electromagnetic torque is given by (16) as: based on the change from the no load to full load
being equal to 1 per unit.[5]
The terms for the physical design of the
plant describe the water starting time constant for

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rated conditions when last equation is normalized The principal input to this model is the
using the per unit system as: output, , from the terminal voltage transducer and
load compensator model. At the summing junction,
(19) terminal voltage transducer output, , is subtracted
from the set point reference, . The stabilizing
feedback, , is subtracted, and the power system
Where: stabilizing signal, , is added to produce an error
(20) voltage. In the steady-state, these last two signals
are zero, leaving only the terminal voltage error
The turbine representation is based on signal. The resulting signal is ampliÞed in the
steady state measurements related to output power regulator. The major time constant, , and gain,
and water flow. The output power is: , associated with the voltage regulator, These
(21) voltage regulators utilize power sources that are
essentially unaffected by brief transients on the
where turbine gain is a proportionality factor synchronous machine or auxiliaries buses. The time
and is assumed to be constant, that is: constants, and may be used to model
(22) equivalent time constants inherent in the voltage
regulator; but these time constants are frequently
small enough to be neglected, and provision should
Fig.4 shows the block model of the turbine.[4] be made for zero input data.[6]
The voltage regulator output, , is used to
control the exciter, The exciter is represented by the
following transfer function between the exciter
voltage and the regulator's output :[6]

(23)

A signal derived from field voltage is normally used

to provide excitation system stabilization, , via
the rate feedback with gain, , and time constant,
.
V. SIMULATION RESULTS
According to the previous voltages and
torque equations, which are presented in
Fig.4 Hydraulic turbine block diagram synchronous machine model section, a simulation
model of three-phase P-poles synchronous machine
IV. EXCITATION SYSTEM MODEL can be built up, using SIMULINK/MATLAB, as
An excitation system model is described. shown in Fig.5
Type DC excitation systems without the exciter's
saturation, which utilize a direct current generator
with a comutmator as the source of excitation
system power.
This model, described by the block
diagram of Fig 4, is used to represent field
controlled dc commutator exciters with continuously
acting voltage regulators.

Fig. 4 Excitation system block diagram

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ISSN : 2248-9622, Vol. 4, Issue 1( Version 2), January 2014, pp.295-301

The headings and subheadings, starting

with "1. Introduction", appear in upper and lower
case letters and should be set in bold and aligned
flush left. All headings from the Introduction to
Acknowledgements are numbered sequentially
using 1, 2, 3, etc. Subheadings are numbered 1.1,
1.2, etc. If a subsection must be further divided, the
numbers 1.1.1, 1.1.2, etc.
The font size for heading is 11 points bold
face
Table 2 shows turbine parameters, while Table 2
shows excitation system parameters.

Table 2 hydro turbine model parameters

Table 3 excitation system parameters

Fig.5 Synchronous machine model

Using this model with hydraulic turbine

model and excitation system model, which are
presented previously in this paper, using those
models we can easily simulate hydro power plant.
Table 1 shows the synchronous machine parameters
used in simulation.
Table 1 Synchronous machine parameters The following figures show the simulation
results of normal operation mode, where Fig.6
shows stator currents and voltages and excitation
voltage, while Fig.7 shows rotation speed and output
mechanical power of the turbine. All quantities are
per unit, and the horizontal axis is always the time in
second.

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ISSN : 2248-9622, Vol. 4, Issue 1( Version 2), January 2014, pp.295-301

Fig.8 stator voltage Va, stator currents Iabc

Fig.6 per unit stator currents Iabc, stator voltage Va,

excitation voltage Vf

Fig.9 Output mechanical power of the turbine Pm,

Speed per unit.

VI. CONCLUSION
SIMULINK is a powerful software
package for the study of dynamic and nonlinear
systems. Using SIMULINK, the simulation model
Fig.7 per unit speed, output mechanical power of the can be built up systematically starting from simple
turbine Pm sub-models. The hydro power plant model
developed may be used alone, as in the direct-on-
Fig.8 and Fig.9 show the system response line starting example presented, or it can be
for three phase fault at the generator terminals in incorporated in an advanced drive system. Several
time 2 to 2.2, where Fig.8 shows stator volages and tests and operating conditions can be applied on the
currents before, during and after the fault, while model. In this paper a three phase fault case was
Fig.9 shows the mechanical power and speed shown, many other faults or operating conditions as
changes becuase of the fualt. over load conditions can be applied and examined
by this model. The author believe that SIMULINK
will soon become an indispensable tool for the
teaching and research of electrical machine drives.

REFERENCES
[1] C.M. Ong, Dynamic Simulation of Electric
Machinery Using Matlab/Simulink (A
Simon & Schuster Company, NJ: Prentic-
Hall, 1998)

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ISSN : 2248-9622, Vol. 4, Issue 1( Version 2), January 2014, pp.295-301

[2] A.A. ANSARI, D.M. DESHPANDE,

Mathematical Model of Asynchronous
Machine in MATLAB Simulink,
International Journal of Engineering
Science and Technology, 2(5), 2010, 1260-
1267.
[3] T. Kano, T. Ara, and T. Matsumura, A
method for calculating equivalent circuit
constants of a synchronous generator with
damper using a dc decay test with open and
shorted field windings, Proceedings of the
2008 International Conf. on Electrical
Machines, IEEE, 2008, 978-1-4244-1736-
0.
[4] Y. C. choo, K. M. Muttaqi, and M.
Negnevitsky, Modeling of hydraulic
povernor-turbine for control stabilization,
Anzima Journal, 49(EMAC2007), 2008,
681-698.
[5] W.li, L. Vanfretti, and Y.
Chompoobutrgool, Development and
implementation of hydro turbine and
governor models in a free and open source
software package, Simulation Modeling
Practice and Theory, 24, 2012, 84-102.
[6] IEEE Standards Board, IEEE
Recommended Practice for Excitation
System Models for Power System Stability
Studies, IEEE Std 421.5-1992.

BIBLOGRAPHY

Ing. Mousa Sattouf, PhD student in

power electrical engineering
department, Faculty of electrical
engineering and communications,
Brno university of technology, Brno,
Czech republic..He graduated from
Power Electrical Department,
Faculty of Mechanical and Electrical Engineering,
Damascus University, Damascus, Syria in 2006. He
worked a Lecturer and teacher in laboratories of the
department, from which he graduated in 2007, and
worked as assistant teacher in Electrical Drive
Department, Faculty of Electrical Engineering,
Aleppo University, Aleppo, Syria in 2008.

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