PERANCANGAN SISTEM PENGENDALIAN STEAM TURBIN-GENERATOR BERBASIS MODEL PREDICTIVE CONTROL DI PT GEO DIPA ENERGI UNIT DIENG

SEMINAR TUGAS AKHIR BIDANG MINAT REKAYASA INSTRUMENTASI

PERANCANGAN SISTEM PENGENDALIAN STEAM TURBIN-GENERATOR BERBASIS MODEL PREDICTIVE CONTROL DI PT GEO DIPA ENERGI UNIT DIENG

Oleh : DHITA KURNIARUM 2408 100 098 Dosen Pembimbing : Katherin Indriawati 197605232000122001

Seminar Tugas Akhir ; July, 2012.

INTRODUCTION Latar Belakang 





Geothermal mrpkn energi

terbarukan yg sdng dikembangkan saat ini. Steam turbin dan generator mrpkn komponen penting dlm geothermal power plant. MPC => multivariabel control

Permasalahan 



system

Tujuan Merancang sistem pengendalian steam turbin & generator di PT Geo Dipa mengunakan MPC.

Bagaimana merancang sistem pengendalian steam turbin & generator berbasis MPC. Bagaimana perbandingn performansi PI controller dengan MPC.

Batasan masalah 

Plant yg ditinjau adlh Steam turbin & Generator di PT Geo Dipa Energi.

• •

Variabel kontrol : w & v. Variabel manipulasi gate opening & arus exciter. Seminar Tugas Akhir ; July, 2012.

METODOLOGI Flowchart Penelitian MULAI

Flowchart Perancangan MPC

PENGAMATAN PROSES & PENGAMBILAN DATA

MULAI

PEMODELAN PLANT

Pemodelan Plant dalam Bentuk State Space

VALIDASI MODEL

Penentuan Parameter MPC TIDAK MODEL VALID?

YA

Uji Performansi MPC (Uji Load & Uji Noise)

PERANCANGAN PENGENDALI MPC

TIDAK

UJI PERFORMANSI

Performansi Baik? TIDAK PERFORMANSI BAIK?

YA YA

ANALISA

SELESAI

SELESAI


GAMBARAN UMUM PLANT Set Point : ω = 3000 rpm V = 15 kV P = 15 MW


TINJAUAN PUSTAKA GOVERNING SYSTEM

SHAFT

Dengan

STEAM TURBIN

Tst

: 0,02 s

Pref

: 0,2 pu

Rp F

: 0,05 pu :1


CONTINU...

GENERATOR


CONTINU... EXCITATION SYSTEM Eksitasi

Power System Stabilizer

Dengan Ke

:1

Tvt

: 0,003 s

T1

: 0,005 s

T3

: 0,3 s

Te

Tw T2 T4

: 0,001 s

:2s

: 0,0025 s : 0,15 s.


CONTINU... MODEL PREDICTIVE CONTROL

Model Proses Fungsi Objektif / Cost Function


DIAGRAM BLOK DENGAN PI CONTROLLER Pref

ωref

ωgen

Overall 1/Rp

+

+ error

+ ṁ

Governing System

∆Y

Pm

Tm

STEAM TURBINE

V, I, Pe GENERATOR

Shaft

To Network

-

Vstab

+

Vref

∆ω

Excitation System +

PSS +

error

-

Vfd

+ Vgen

+

Excitation System error

PI Controller

u

Saturasi

error

Vfd

Exciter

PI Controller

Governing System u

Speed Relay

Servo motor

∆Y


DIAGRAM BLOK DENGAN MPC CONTROLLER Overall 2

ωgen

+ Measured Output 3

-

1

+ 3

Manipulated Variabe 2

+

MPC

PSS Vstab Vref +

+

1

Governing System

u

1 3

∆Y

Excitation System

STEAM TURBINE

Tm

V, I, Pe

Pm Shaft

GENERATOR

Vfd

Referance

+

ωref

2

1/Rp

Vfd(0)

u

Pref +

Governing System

+

u_2

Excitation System u_3

Speed Relay

Servo motor

∆Y

Vfd Saturasi

Exciter Seminar Tugas Akhir ; July, 2012.

PERANCANGAN STEAM TURBIN & GOVERNING SYSTEM f low

Pref 2

Pref gate opening

1

steam turbine gate f lowHp

4 mass shaft 4

wref

wref

Pboil

T5-2

T5-2

Tm_g

Pm

Tr2-5

2

w

speed regulator

1.0 Pboil

d_theta

Tr5-2 1

dw_5-2

4

dw_5-2

d_theta gentype==2

gentype~=2 3

3

gate

wm


CONTINU... 3 wref 4

Governing System

1/Rp 1/Rp 2

w 1

PID

1 0.001s+1

Pref

PID Controller

Servo-motor speed limits

Speed Relay

flow

1

1

Servo-motor position

gate opening

Shaft

ctrl1==1 Enable T5-2

1 s

-K-

Ts_5-2

ctrl1

Tt_5-2 dw_5-2

2 d_theta

dth_gen

Tm_gen

1 mass

Steam Turbin

2

ctrl1==2

Tr2-5 Ts_5-2 Tt_5-2 dw_5-2 dth_gen

Multiport Switch1

F5

Tm_gen

2 masses

F4

3 dw_5-2

ctrl1==3

Ts_5-2

Tt_5-2

Multiport Switch3

1 gate

dw_5-2 dth_gen

2 T5-2

F3

In1 Out1

In1

Out1

In1

Out1

In1

Out1

F2

Tm_gen

2

3 masses

1 Tm_g

ctrl1==4

Stage4

Stage3

Stage2

Stage1

Pboil 1 flowHp

Ts_5-2 Tt_5-2

Multiport Switch2

dw_5-2 dth_gen

Tm_gen

4 masses


PERANCANGAN GENERATOR From

Goto

b5_4bbe_ad20_6 2

v

c45c_4e0a_8cd9_e

i

vf m

Vf_

m_e

theta_e

m m Te

we

m_m

Te

1 m

Measurement list Electrical model

theta_e

Continuous

1 Pm

input we

Mechanical model Continuous Pm input


CONTINU... Mechanic Subsystem Pm 2

3

nom. speed /

-K-

input

1_(2H)

1

-K-

1/s

we web1

n dw

dw

Rotor angle dtheta

-K-

1/s

d_theta (rad)

2

web2

theta_e -K-K-

Clock

d_theta (rad)

-K1

-K-

Pe

Te

n

n

Pe

Pe

Te

t -K-K-

1/s

d_theta (rad)

rem(u,2*pi)

-K-

Mechanical dw

1 m

theta theta

theta Te

Te


CONTINU... Electric Subsystem qd2abc

abc2qd 1

v

cos,sin

sin,cos

ia,ib

is(A)

1

iabc

i

vq

v theta

phiq

vd

iq,id

iq,id

phi_q

is(pu)

3 theta_e phi_d

phikq2 phi_q

u[1]*u[3]-u[2]*u[4]

3

T e electrical torque

Te

iq,id

phikq1 Vkq1

2

Vf Vf d

currents and mutual fluxes

vf

4

iq,id

phid

we

phi_d

2 Vq

phifd

Peo

m

Vd Iq

Qeo

PQ phikd vkd

Vq delta Vd

Delta angle


PERANCANGAN EXCITATION SYSTEM

1

v ref

vref 2

vd

vd 3

Vf vq

1 Vf

vq 4

v stab

vstab Source


CONTINU... Excitation 1 vref

2 vd

1

sqrt(u(1)^2 + u(2)^2)

0.0022s+1

3

Positive Sequence Voltage

vq

Low Pass Filter 1 | (tr.s+1)

4

1

PID

1

0.001s+1

vstab

Saturation

Exciter 1| (te.s+ke)

Vf

0.001s 0.1s+1 Damping kf.s | (tf.s+1)

Power System Stabilizer 1

K

In Sensor

Overall Gain

0.005s+1

0.3s+1

0.0025s+1

0.15s+1

1 VStab Limiter

Wash-out Lead-lag #1

Lead-lag #2


PARAMETER CONTROLLER


HASIL PEMODELAN DENGAN PI CONTROLLER Steam Turbine and Generator Control System with PI controller by Dhita Kurniarum

<Stator v oltage v q (pu)> <Stator v oltage v d (pu)>

75 pu =>> MW

-Kpu =>> rpm

-K-

RPM

pu => rpm

Peo 75

pu => MW 1

<Stator v oltage v q (pu)>

wref

sqrt(u(1)^2 + u(2)^2)

wref

gate

0.2

<Stator v oltage v d (pu)>

Pref

Gate Opening

Pref wm

15

Terminal Voltage

pu => kV Voltage

m Pm

Pm d_theta

Steam Turbine and Governor

A

A

a

A

a

A

a

A

B

B

b

B

b

B

b

B

C

C

c

C

c

C

c

C

15

pu =>> kV

Vf_

vref

1 Vref

vd Vf

vq dw Vstab

vstab

Excitation System

Synchronous Generator 750 MVA ; 15 kV 3000 rpm

Vfd

B22

Transformator 75 MVA ; 50 Hz 15 kV/150 kV Vabc_B500 (pu)

Vabc_B500

PSS

Network : 150 kV A B C

A B C 0.1 mH

Multimeter1

A B C

Three-Phase Fault

Fault applied at peak Van VAn voltage of generator

Iabc_B22 (A)

Iabc_B22

1

Continuous

B500

I_Fault (A)

Fault Scope


HASIL PEMODELAN DENGAN MPC CONTROLLER Steam Turbine and Generator Control System with MPC by Dhita Kurniarum

Continuous 75 Transfer Fcn 1

-K-

pu =>> MW <Stator v oltage v q (pu)>

sqrt(u(1)^2 + u(2)^2)

pu =>> rpm

<Stator v oltage v d (pu)>

0.0022s+1

-K-

RPM

pu => rpm

75

Peo

pu => MW wm

f low

d_theta

gate

<Stator v oltage v q (pu)>

sqrt(u(1)^2 + u(2)^2) <Stator v oltage v d (pu)>

Gate u

-Kpu => kV

Positive Sequence Voltage

Volt

Pm

mo

1 w ref

MPC

Steam Turbine and Governor

mv

m

P ref

pu =>> kV

Pm

0.2 ref

u

Vf

1

Excitation System

A a

A

a

A

a

A

B

B b

B

b

B

b

B

C

C c

C

c

C

c

C

Vf_ B22

75 MVA 15kV 3000 rpm

20 v ref

15

A

A B C

Vfd Vabc_B500 (pu)

Vabc_B500

Vstab In

1 Multimeter1

A B C

Three-Phase Fault

Fault applied at peak Van VAn voltage of generator

Iabc_B22 (A)

Iabc_B22

A B C 0.1 mH

v f(0) -C-

150 kV ; 75 MVA

B500

75 MVA-50 Hz 15 kV-150 kV

I_Fault (A)

Grid


VALIDASI MODEL DENGAN REAL PLANT


HASIL SIMULASI MPC DG CURRENT FAULT

I_abc 3

x 10

4

Three phase fault dipasang pada sirkuit menuju network. Fault resistance yang digunakan 0,001 Ω. Ground resistance fault 0,001 Ω. Snubbers resistance 1x106. Transmition line pada detik ke10 s sampai 10,01 s

2

0 -1 -2 -3 9.98

V_abc 9.99

10

10.01 Time (s)

0.4

10.02

10.03

10.04

0.3 0.2 0.1

Vabc

Arus abc (A)

1

0 -0.1 -0.2 -0.3 -0.4 9.99

9.995

10

10.005

10.01 Time (s)

10.015

10.02

10.025

10.03


CONTINU... Respon Kecepatan Putaran Steam Turbin Kecepatan putaran steam turbin (rpm)

3020

Set point PI MPC

3015 3010 3005 3000 2995 2990 2985 2980 0

5

10

15

20

25 Time (s)

30

35

40

45

50


CONTINU... Respon Tegangan Terminal Generator 18

Tegangan generator (kV)

16 14 12 10 8 PI Set point MPC

6 4 0

5

10

15

20

25 Time (s)

30

35

40

45

50


CONTINU... Respon Power Active yang Dihasilkan Set Point PI MPC

60

Power Active (MW)

40 20 0 -20 -40 -60 0

5

10

15

20

25 Time (s)

30

35

40

45

50


CONTINU...

Respon Gate Opening 0.25

PI MPC

0.15

Respon Field Voltage

0.1 1.2

0.05 0

PI MPC

1.15

5

10

15

20

301.1

25 Time (s) Field Voltage (pu)

Gate opening (%)

0.2

45

40

35

50

1.05 1 0.95 0.9 0.85 0.8 0.75 0

5

10

15

20

25 Time (s)

30

35

40

45

50


PERBANDINGAN MP, TS, & ESS


KESIMPULAN 





 

Sistem pengendalian MPC memberikan respon terbaik ketika digunakan parameter prediction horizon 3, control horizon 1, weight output 0,040762, weight rate 0,073598, constraints controller inner loop adalah -0.1 sampai 0,1, constraint controller outer loop adalah -0.5 sampai 0,5, dan constraint controller tegangan adalah -2 sampai 2. Berdasarkan pada respon yang ditunjukkan ketika dilakukan uji performansi (current fault), MPC menunjukkan respon yang lebih baik dibandingkan PI controller. Pengendalian kecepatan putaran turbin dengan MPC memberikan respon yang mempunyai Mp 0,1%, Ts 13 s, dan Ess 3,33x10-4%. Pengendalian tegangan terminal generator dengan MPC memberikan respon yang mempunyai Ts 0,3 s, dan Ess 0,33%. Daya aktif yang dihasilkan mempunyai nilai Mp 100 %, Ts 0,6 s, dan Ess 0,33%. Seminar Tugas Akhir ; July, 2012.

TERIMA KASIH….


PERANCANGAN SISTEM PENGENDALIAN STEAM TURBIN-GENERATOR BERBASIS MODEL PREDICTIVE CONTROL DI PT GEO DIPA ENERGI UNIT DIENG

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