Modeling Renewable Power Systems Wind and Hydro

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1 Federal University of Santa Catarina Technological Center Department of Mechanical Engineering Laboratory of Hydraulic and Pneumatic Systems Modeling Renewable Power Systems Wind and Hydro Prof. Victor J. De Negri 10th MODPROD Workshop on Model-Based Product Development Linköping, February, 2016

2 Electrical Generation in Brazil 4,146 power plants on operation: 142 GW of electrical power Under construction: 21.9 GW Hydro power: 15.7 GW Wind power : 2.8 GW Hydroelectric Power Plants Wind Power Plants Thermoelectric Power Plants Nuclear power Plants Photovoltaic Power Plants 2 of 23

3 Speed Governors for Hydroelectric Plants PV Signal DV Position Velocity Voltage Generator Servomotor Position Speed Governor Water Flow Turbine 3 of 23

4 Wind Turbine Power Control Rotor Aerodinâmica V(t) P mec. (ω R,T R ) P mec. (ω G,T G ) P elec. (U,I) Vento Wind Transmissão Transmission Gerador Generator β β ref P elec. Atuação Actuator Controlador Controller 4 of 23

5 Valve opening [%] Speed and Power Governors: Automatic Systems Automatic Systems: Applications including Control and/or Automation Events start the control tasks Behavior: Continuous: Non linear, Kv=1,13, Kp=15,0 Non linear, Kv=1,43, Kp=8,0 Non linear, Kv=2,48, Kp=4,0 Non linear, Kv=5,38, Kp=2,0 Automatic Systems Automation Systems 50 Discrete 0 1 1,05 1,1 1,13 1,15 1,2 Time [s] Control Systems 5 of 23

6 Automatic Systems Automatic Systems: Several components Different technologies System behavior depends on the interrelation between components System design and operation are not trivial Automatic systems have a unique fundamental structure 6 of 23

7 Automatic Systems Modeling Perspectives Functional model: Specifies what the system does or should do Function describes the technical system ability to fulfil a purpose Z1 V1 A1 S1 Structural model: Describes where the functions are implemented Z1 U U S1 U V1 Position transducer Actuator A1 S1 AA qvc Me A ra=2 AB A ra=aa/ab qvc/2 x A KC BC FC Controller Z1 V1 Valve x V ps Behavioral model: Explains how or when the functions are executed V1 K U Z1 + Z1 U V1 x V1 + K ( s s 1) 2 n n - U S1 - + Kq 0 + qv c + Kc Vt s 4 p c A 2 Ms Bs x A1 As S1 K 7 of 23

8 Hydro and Wind Power Plants Functional and Structural Modeling: Applying Channel/Agency Petri Net Circuit Diagrams Behavioral Modeling: Francis Turbine Applying Grafcet, Ladder Diagram, Logical Block Diagram for event guided modeling (Discrete state modeling) c2 Cp c5 Inf c6 a1 MP c4 Generator a2 c3 EP c1 Applying Differential Equations, Transfer Function, Power Bond Graph, PWM generator A Block Diagram for continuous state modeling. y d y PID Control u u dc _ A u dc _ B Algorithm PWM u dc _ A u A PWM generator B u dc _ B u B u A u B 8 of 23

9 Channel/Agency Net Heuser (1990), Reisig (1992), Hanisch (1992), De Negri (1996) Symbol Generic name Basic elements Functional view Structural view Directed arcs Hidden channels Symbol Resource type Symbol Information Active unit Activity (function) Agency Energy Passive unit Resource Channel Matter Energy and matter DIRECTED ARCS FOR ENERGY FLOW DIRECTED ARCS FOR INFORMATION FLOW PASSIVE UNITS (CHANNELS) AGENCY 1 ACTIVE UNITS (AGENCIES) DIRECTED ARCS FOR MATTER FLOW AGENCY 3 AGENCY 2 DIRECTED ARCS FOR MATTER AND ENERGY FLOW 9 of 23

10 Design Process: Function-Means Tree Hubka (1976); Andreasen (1980); Burr (1990) Technical systems / Mechatronic systems or MEAN 1 and FUNCTION MEAN 2 MEAN 3 C/A Net using the Function-Means Tree perspective F2.1 F2.2 M2.1 M2.2 M2.3 M2.4 F3.1 F3.2 F3.3 F3.4 M3.1 M3.2 M3.3 M3.4 M of 23

11 The Design Process: C/A Net Refinement and condensation Channel 1 c1.1 Cn a1.c1 a1.1 Agency 1 a1.2 c2.1 c2.2 Channel 2 c2.a1 c2.3 c2.a2 Refinement Condensation c of 23

12 The Design Process using C/A Net Example of Channel/Agency Net modelling Main function: Electrical energy generation Power plant a1 EP c1 Thermal Wind Nuclear Hydroelectric c2 Hydroelectric a1 EP c1 c3 Waves Turbine (Dam) 12 of 23

13 The Design Process using C/A Net Turbine c3 c2 a1 MP c4 Generator a2 EP c1 Francis Kaplan Pelton c2 Francis Turbine Cp c5 MP Generator c3 EP Inf c6 a1 c4 a2 c1 13 of 23

14 The Design Process using C/A Net RVX200 c2 Hydraulics RVX300, Usp Scroll Case Pneumatics RTX400 RTVX100 Speed Governor a1, Usp Electrical Power Unit a7 c7 a6 RTX300 Inf, Usp Cp RTVX100 Inf c6 Inf Wicket gates a3 Cp HP c5, Usp Voltage Governor a8 c8 Inf Inf c10 Inf Generator a2 Usp MP c4 Usp, Usp Runner Blades a4 Cp Water Control Power Usp EP c1 c9 EP HP Electric Power Hydraulic Power Draft Tube a5 MP Usp Mechanical Power Useful Power c3 Inf Information 14 of 23

15 The Design Process using C/A Net Mathematical representation of Channel/Agency Nets N ( C, A, C ex, A ex, E re,,, K re ca pre, K Post ) c1 r1 C { c1, c2,..., cn} A a, a,..., a { 1 2 m } c2 r2 a1 r1, r3 r3 c3 E re { r, r2,..., r 1 b } c5 r1 c4 r1, r3 a2 r3 c6 Kpre a1 a2 c1 {r1} c2 {r2} c3 {r3} c4 {r1, r3} c5 c6 c2*a1 Kpost a1 a2 c1 c2 c3 c4 {r1, r3} c5 {r1} c6 {r3} c2*a1 {r2} 15 of 23

16 The Design Process using C/A Net Analysis of the net properties Activity 1.1: Structural Coherence Kpre Logical operation OR between rows Kpost Logical operation "OR" between columns Activity 1.2: Resource Flow Coherence Supplier channel Verify at Kpre which agencies are linked to the channel a1 a2... am Verify at Kpost which channels are linked to the agencies VLKpre VLKpost VCKpre VL Kpre VL Kpost VLRes Eliminate non-zero elements VCKpost VC Kpre VC Kpost VCRes Analyze non-zero elements Supplier and consumer channels c1 c2... cn Verify whether this is a consumer channel or a channel blocked by a controllable agency. It is a consumer or blocked channel It is not a consumer nor blocked channel Store relationship between supplier and consumer (or blocked) channels Conclusion regarding resource flow coherence 16 of 23

17 The Design Process using C/A Net Equivalence between C/A net and circuit diagrams Signal Agent Rudder Controller gains: K P = 2; K I = 0,1 Position sensor: K S = 300 V/m Ene Angle max = 15 Response = 100 ms From conceptual to detailed design Cylinder: d = 30 mm Valve: q Vn = 32 L/min ( p = 10 bar) A1 a7 (A1) c12 c7 c8 V3 a6 (V3) M P1 V2 c10 c6 a5 (V2) c4 a4 (M) c3 a3 (P1) c5 c11 c2 c9 Mathematical analysis of hydraulic, pneumatic, and electric circuits FT a2 (FT) c1 Z1 a1 (Z1) 17 of 23

18 Reliability Analysis on the Automatic System Design 2007 Henri C. Belan 2009 Gilson Porciúncula Reliability Electric Diagram Hydraulic Diag. Grafcet 18 of 23

19 Hydro and Wind Power Plants Functional and Structural Modeling: Applying Channel/Agency Petri Net Circuit Diagrams Behavioral Modeling: Francis Turbine Applying Grafcet, Ladder Diagram, Logical Block Diagram for event guided modeling (Discrete state modeling) c2 Cp c5 Inf c6 a1 MP c4 Generator a2 c3 EP c1 Applying Differential Equations, Transfer Functions, Power Bond Graphs, PWM generator A Block Diagram for continuous state modeling. y d y PID Control u u dc _ A u dc _ B Algorithm PWM u dc _ A u A PWM generator B u dc _ B u B u A u B 19 of 23

20 Continuous State Mathematical Models Hydrostatic Transmission for Wind Turbines Fixed displacement pump coupled to the rotor; Variable displacement motor coupled to the generator; Charging circuit, to avoid cavitation and compensate leakage; U S2 U S3 U S1 U V1 GS Synchronous generator U Z1 Controller Z1 M Wind turbine rotor 2 20 of 23

21 Dynamic Modeling and Simulation AMESim model Wind torque; Hydraulic circuit; Control System; Electrical grid Synchronous generator directly connected to the grid 2012 Eduardo Flesch 2015 Henrique Raduenz of 23

22 Prototype Design and Construction Structural model (3D CAD): 8.5 m high: include the effects of height difference; 28 kw; Using off-the-shelf components; Generated electricity delivered to the grid; Electrical motor act as wind turbine rotor Behavioral model (AMESim); Study of control strategies; Analysis of the system connection to the grid; Improve the overall efficiency and achieve a cost effective solution; 2015 Jonatan Turesson Joel Rappp Henrique Raduenz 22 of 23

23 Wind Turbine Blades: Pitch control and Force Emulation Matlab/Simulink System simulation Blade pitch control Real-time force calculation Force calculation Force emulation Pitch control 23 of 23

24 Wind Turbine Blades: Pitch control and Force Emulation Illustrative block diagram Test bench 24 of 23

25 Hydraulic System Design Using Biodegradable Hydraulic Fluids 2013 Yesid Asaff Illustrative model of the fluid ageing: Expert system development for the system design support Software Function Block Diagram: 25 of 23

26 Models for Hydro and Wind Power Systems Electrical Generation Automatic Systems Speed and Power Governors Functional and Structural Modeling: Behavioral Modeling: Kpre a1 a2 c1 {r1} c2 {r2} c3 {r3} c4 {r1, r3} c5 c6 c2*a1 26 of 23

27 2016 Conferences on Fluid Power in Brazil 27 of 23

28 Santa Catarina Island - Florianópolis Hercilio Luz Bridge Santa Catarina Island Public Market Conceição Lake Dunes Praia dos Ingleses English`s Beach 28 of 23

29 Federal University of Santa Catarina Technological Center Department of Mechanical Engineering Laboratory of Hydraulic and Pneumatic Systems Modeling Renewable Power Systems Wind and Hydro Victor J. De Negri