Abstract In this paper, we propose a complete modeling approach of hydraulic power plants and a control solution to improve the start-up performance of hydraulic turbines. This paper presents a novel simple speed controller that is capable of starting-up hydraulic turbines fast enough while limiting sharp pressure head oscillations. Its simplicity makes it easy to adopt by practitioners, and capable of running on existing power plants which utilize microcontrollers with limited computational abilities. The controller structure proposed in this paper has the potential of being tuned such that closed-loop stability is guaranteed and upper bounds on asymptotic tracking error are minimized. A modular mathematical model is also proposed where the method of characteristics is used to model water dynamics in multiple penstocks used in hydraulic power plants. The main problem that rises when modeling a system of multiple penstocks is systematically choosing the sampling period. Therefore, we propose a systematic approach to choose any sampling period. This leads to the development of a modular hydraulic simulator that takes into account power plants with multiple penstocks, the nonlinear dynamics of the hydraulic turbine, modeled by regression models generated using Hill charts data points and the guide vanes opening actuator’s full nonlinear dynamics.

中文翻译：

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水力发电厂通用建模与调速方法：启动工况

摘要 在本文中，我们提出了一种完整的水力发电厂建模方法和一种控制解决方案，以提高水轮机的启动性能。本文提出了一种新颖的简单速度控制器，它能够足够快地启动水轮机，同时限制急剧的压头振荡。它的简单性使其很容易被从业者采用，并且能够在利用计算能力有限的微控制器的现有发电厂上运行。本文中提出的控制器结构有可能被调整，从而保证闭环稳定性并最小化渐近跟踪误差的上限。还提出了一种模块化数学模型，其中特征方法用于模拟水力发电厂使用的多个压力管道中的水动力学。对多压力管道系统建模时出现的主要问题是系统地选择采样周期。因此，我们提出了一种选择任何采样周期的系统方法。这导致了模块化液压模拟器的开发，该模拟器考虑了具有多个压力管道的发电厂、水轮机的非线性动力学，由使用希尔图数据点生成的回归模型建模，以及导叶打开执行器的完全非线性动力学。我们提出了一种选择任何采样周期的系统方法。这导致了模块化液压模拟器的开发，该模拟器考虑了具有多个压力管道的发电厂、水轮机的非线性动力学，由使用希尔图数据点生成的回归模型建模，以及导叶打开执行器的完全非线性动力学。我们提出了一种选择任何采样周期的系统方法。这导致了模块化液压模拟器的开发，该模拟器考虑了具有多个压力管道的发电厂、水轮机的非线性动力学，由使用希尔图数据点生成的回归模型建模，以及导叶打开执行器的完全非线性动力学。