—

Hydro power
Intelligent solutions
for hydro governors
—
With ABB's integrated solutions
encompassing automation,
excitation and turbine control,
you can rest assure that your
power plant gains flexibility
while maintaining high levels
of availability.
 BROCHURE 3

—
Hydro power
Intelligent solutions for hydro governors
ABB offers hydro governor control solutions for a wide range of hydroelectric
power generation facilities. With years of experience in this field, ABB can offer
you governor control solutions specifically engineered to fit the needs of your
hydroelectric power plant.

ABB has dedicated years of focused development to design proportional control valve, the wicket gate is precisely
the proven ABB Governor System. Based on ABB’s powerful positioned for ultimate control.
Distributed Control System (DCS) families and the state-of-
the-art microprocessor-based family of controllers, we have The ABB Hydro Turbine Governor was built for improved local/
created the hydro governor solution for now and the future. remote control for maximum operational flexibility. Local
governor control is selected at the governor cubicle, allowing
Governing system overview local control by the operator using the Process Panel HMI
The ABB Electro-Hydraulic Hydro Turbine Governor cubicle mounted on the governor cubicle front door. When remote
contains the frequency, load and voltage transducers that control is selected, the Process Panel remains available for
connect to the potential transformers and current monitoring, while the essential control signals are managed
transformers measuring the voltage and current of the from the unit controller. Overall performance improvement is
generator. The advanced control algorithms for the hydro achieved through enhanced operational features including
governor application are executed in the controller and an Bidirectional Linearization 3D-Cam, Electronic Wicket Gate
output is generated to position the wicket gate. Using an Max Limiter, and built-in Maintenance/Test Mode.
external servo amplifier that drives an electro-hydraulic
 Speed control overview wheel on the main shaft. After reaching approximately 90%
There are two automatic controllers in the ABB governor: a speed, the PID controller will take over, and maintain the unit at
speed controller and a frequency/load controller. Both of synchronous speed. At this point, the speed reference is
these are independently configured, and are intended for available to the synchronizer through decreased/increased
controlling the turbine generator at their respective time, pulses or a speed matching (beat frequency) circuit, until the
during the start-up and normal load control conditions. During generator circuit breaker is closed.
the start-up sequence, the speed controller is used while the
breaker is open. Under normal conditions, and in the event of Frequency/load control overview
a load rejection, the wicket gate will operate under speed Once the ABB unit is synchronized to the grid, the frequency/
control mode. A simplified diagram of the governor speed load controller takes over control of the wicket gate position.
controls is shown. During the entire normal load control operation, the governor
will only use the frequency/load PID controller. The governor is
The ABB governor is normally started once it is put in automatic also provided with Local/Remote, Manual/Auto, Load Ref,
mode and all operating permissives are satisfied. During the Droop Setter, Deadband Setter and Max Gate Limiter at the
starting ramp, the wicket gate is opened at predefined ramp local process panel for operator action. A simplified diagram
rates set in the controller. Initially, the speed measurement is of the governor frequency/load controller is shown below.
done using speed pick-ups mounted adjacent to a toothed

S = Speed S = Speed
F = Frequency F = Frequency
P = Power (Load) P = Power (Load)

Unit transformer Unit transformer

Unit Unit
Control Panel GCB Control Panel GCB

Headrace Headrace
PT PT
CT CT
S

Process Process
panel panel
Generator Generator
Penstock Penstock
S Manifold F Manifold
ABB Governor Francis ABB Governor Francis
F turbine P turbine

Feedforward 3D
F0 CAM

F D

D
Actuator panel P Actuator panel
S0
P0
Servo T0 Prop T0 Prop
S I Servo P Servo
Amp Value I Servo Value
Amp
Front Dist Front Dist
Value Value
P ep
From From
Wicket Grate Wicket Grate

— —
Figure 1. Simplified Francis Turbine Speed-no-Load Controls Figure 2. Simplified Francis Turbine Power-Mode Controls
 BROCHURE 5

When synchronized to the grid (GCB closed), the controller

uses the combined frequency and load (power in MW)
measurements to control the position of the wicket gate. Loading ramp

The frequency reference will be locked to a 50/60 Hz fixed

value, whereas the load reference is adjustable to a desired
value locally by the operatoror remotely from AGC Software.
The wicket gate position feedback is measured using an
MLDT transducer and controlled using an internal
proportional type positional servo controller. The GV ramp control Automatic Speed Control
Automatic Frequency
/ LoadControl

distribution valve position feedback is measured using Synchronization

GCB Closes
an LVDT transducer and controlled using an external
Start position 1
proportional type positional servo-amplifier (where Start position 2 No load opening
Time

applicable). An optional bidir ectional 3D-Cam can also 90% 100% 0% load 100%
load
speed speed
be enabled for performance enhancements.

Governor modes of operation

No load speed
Governor speed control features:
• Automatic speed control, using speed pickups or
frequency measurements
Time
• Two gate position automatic startup sequence
Ready
• Optional adaptive tuning
• Automatic speed control after load rejection Start Cmd

• Independent speed control PID settings Speed >90%

• Synchronizer raise/lower inputs, or optional Closed GCB

speed matching control

• Gate limiter —
Figure 3. Francis Turbine Startup and Loading Chart

Online control features:

• Automatic frequency/load control, c/w
regulation gain (droop) curve Speed control functional description
• Three adjustable droop levels, with When the unit is ready, the turbine governor receives a start
automatic/manual switching command from either the Unit Controller (external) or from
• Grid detection with adaptive tuning the Local Process Panel HMI. When the start command is
• Bi-directional 3D-Cam for improved feedforward given, the gate will move to the predefined Start Position #1
load response setting. The gate ramps to this value and is maintained at
• Independent frequency/load control PID settings that position until the speed r eaches about 90% of rated.
• Manual gate control When this occurs, the sequence control moves the wicket
• Gate limiter gate to Start Position #2. The gate is now ramped to an
• Optional frequency deadband opening, which is slightly lower than the Speed-No-Load
• Multi-level droop control (SNL) value. Once the gate is at SNL, the speed contr oller
• Frequency deadband automatically takes over. The unit remains at SNL under
• Gate limiter (online) speed contr ol until synchronization (generator circuit
• Power limiter (option) breaker closed).
• 3D-cam (Kaplan runner blades control)
• 3D-cam (power, flow control modes above) The automatic synchronizer interfaces with the turbine
• Runbacks (option) governor to raise/lower the speed setpoint. Once the unit is
• Rough zone monitoring (option) on-line, the frequency reference setpoint is locked at the
• Speed step test (online) 50/60 Hz value and the automatic control is transferred to
the frequency/load controller.
Governor maintenance mode features:
• Manual gate control Frequency/load control functional description
• Gate limiter The grid frequency is a measure of the interconnected
• Servo loop test mode generators speed. If the total load demand in the system
• Local actuator gate raise/lower increases, the frequency (speed) will decrease. Likewise, a
• Instrumentation supervision decrease in the load demand causes the system frequency
• Local/remote alarm/fault monitoring to increase.
Units tied to the grid are designed to automatically perform Optional frequency response and stability analysis
primary control action to re-establish the balance between • Frequency response to injected sine wave
demand and generation. The frequency deviation is • Nyquist and bode plots
influenced by both the total inertia in the system and the • Governor and servo modeling
speed of response of the primary controlled devices. The • Turbine and penstock linear/non-linear modeling
governor uses regulation gain (proportional control) to • Generator and grid subjected to stiff grid
move the gate depending on the following rule: • Water hammer analysis and wave reflection time
• Evaluation of water start time (Tw), and unit
The primary load control of a unit is described as the change acceleration time (Ta) constants
in power ΔP (MW) with respect to changes in frequency Δf (Hz), • Fine adjustments of PID and 3D-Cam values
where f0 is the nominal operating frequency (50 or 60 Hz), P0 is
the nominal (rated) power output, and ep is the unit regulation
(droop). The value for ep is normally given in percent and is
adjustable by the operator. A typical droop setting in North
Legend:
America is 5%, as per NERC Policy-1. The frequency and unit
lines = model response
load relationship given by this equation is plotted over the circles = calculated from
operating range of the unit, as shown in following figure. actual values

ΔP = (P0 – P), change in Unit Load (P) with respect to

Rated Power (P0 ) of the Turbine/Generator.

Δf = (f0 – f ), change in Frequency (f) with respect to

Rated Frequency (f0) of the grid.

Hz —
Figure 5. Frequency Response Bode Type (Gain) diagram
63 Hz
slope = ep (droop)
Δf

fn 60 Hz

0
ΔPower 100%
Pn

— Legend:
Figure 4. Governor Speed Droop Curve
lines = model response
circles = calculated from
actual values

—
Figure 6. Frequency Response Bode Type (Phase) diagram

COMPLIANCE WITH INDUSTRY STANDARD TESTING

ASME PTC 29-2005 Speed-governing systems for hydraulic turbine-generator units

IEC 308 International code for testing of speed governing systems for hydraulic turbines

IEC 61-362 Guide to specification of hydraulic turbine control systems

IEC 61131 Programming Industrial Automation Systems

IEEE Std 125-2007 IEEE recommended practice for preparation of equipment specs for speed-governing of hydraulic
turbines intended to drive electric generators

IEEE Std 1207-2011 IEEE guide for the application of turbine governing systems for hydroelectric generating units
 BROCHURE 7

High speed servo loop Governor (Distribution Value Servo Amplifier)

A cascade type servo control loop is used to accurately
control the gate position. This is done using a combination
of an internal gate servo controller together with a high
speed external servo controller for the distributing valve.
Key features include:
• LVDT for distribution valve position sensing
and control
• External (modular) high speed servo control
for distributing valve
• Integral controller based servo loop for
gate position control
• Fast, high accuracy and high repeatability
gate positions control

LVDT DEMODULATOR SERVO CONVERTER PROPORTIONAL DISTRIBUTION

Z/F F/I AMPLIFIER V/I VALVE VALVE
Feedback
+/- 10mm Used Range

Setpoint
from Controller Open (Raise)

Lower
Macro Sensors

Macro Sensors
HAS-750-2000

G122-824-002

CC-U/STD

Close (Lower)
LCV-2412

I
Moog

ABB

PV Raise DV

4 mA 10 V 20 mA Open
- 25mm + 25mm

- 25mm + 25mm

+ +

+/- 10mm 12 mA

- - Supply
20 mA - 10 V 4 mA Close
DV
Position mA To
DV Raise 20
Tank
+ +
12 O
- - C
mA
DV Lower 4 Close
41 22 0 -10 0+ 10 Wicket Gate
F V
ZT I
Kp
I
Open
Feedback
+
SERVOMOTOR (x2)
-
Setpoint
4 12 20 mA

From PLC

— —
Figure 7. Governor Electro-Hydro (Servo Loop) Interface Figure 8. Bot Right Governor Typical Logic Diagram

Summary of benefits
Open configuration and predefined function blocks ABB’s hydro turbine governor solution is based on our long
The ABB Electro-Hydraulic Turbine Governor (EHG) uses the tradition of governor products and is fully implemented in
latest microprocessor-based technology. The governor is ABB’s DCS. A new hydr opower governor library has been
programmed using Function Block pr ogramming, selected developed, taking full advantage of the powerful
from a set of factory built libraries for functions. In addition to microprocessor-based controller and its flexibility for
function blocks, this controller also supports all IEC-61131-3 custom functions. The governor can run as a conventional
programming languages: Structured Text, Instruction List, standalone turbine governor or as a combined unit controller
Sequential Function Charts, and Ladder Diagram, all of which and a turbine governor in a redundant or single controller.
can be used to add additional custom built user functions. The special capabilities of ABB’s DCS represent the future of
power generation providing economical savings through an
The diagram above shows a typical logic page of the turbine optimal and efficient day-to-day operation of complete
governor application. In this example, the function block hydroelectric power plants.
drawing for the Distribution Valve Servo Amplifier is shown,
the external connection to this logic page are depicted by All basic control functions are covered in ABB’s solution for
parameter m and n in the diagram and are also listed on the hydro turbines including: fast system response time, high
program pane. Internal connections remaining on the logic bandwidth, full compliance with IEEE and IEC standards for
page are depicted by the line p. Block j is an On/Off function hydroelectric turbine governing, extensive system
available from the governor library, Block k is a Scaler documentation and operating/maintenance training.
function, and Block l is a ServoPD function. These are just
some of the many functions available in the governor Supported turbines
function block library. • Francis
• Kaplan & Bulb
• Reversible pump/turbine
—
ABB Inc.
Power Generation
Burlington, ON L7N 3W5
Canada

Phone: +1 (905) 639 8840 x 2100

Email: [email protected]

abb.com/powergeneration

The information contained in this document is for general

information purposes only. While ABB strives to keep the
information up to date and correct, it makes no
representations or warranties of any kind, express or
Doc. ref. 9AKK107992A8821

implied, about the completeness, accuracy, reliability,

suitability or availability with respect to the information,
products, services, or related graphics contained in the
document for any purpose. Any reliance placed on such
information is therefore strictly at your own risk. ABB
reserves the right to discontinue any product or service at
any time.

© Copyright 2021 ABB. All rights reserved.

Specifications subject to change without notice.