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Governing Basics
Governing Basics
Slide 1
g Power Systems University
Governing Basics
Safety Information
WARNING!
The engine, turbine or other type of prime mover
should be equipped with an overspeed shutdown
device, that operates independent of the prime mover
control device to protect against runaway or damage to
the prime mover with possible personal injury or loss of
life should the mechanical-hydraulic governor or
electric control, the actuator, fuel control, the driving
mechanism, the linkage, or the control device fail.
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
Woodward
Actuator Control
System
Energy
Source
Prime Load
Mover
Metering
Valve
Exhaust
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
Control
Of The
Actual Speed Energy
or Load
Desired Speed or
Load Reference
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
Force Balance
Actual Desired
Speed Speed
Force Force
F(a) F(d)
1000 lb 1000 lb
Increase Decrease
Fuel Fuel
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g Power Systems University
Governing Basics
Force Balance
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g Power Systems University
Governing Basics
Thrust
Bearing Speed
Adjust Output
Servo
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
Unstable Governor
Speed
z As load is added, speed Adjust Output
Servo
decreases. Fuel is added,
increasing speed until speed
equals speed setpoint.
z Due to the acceleration and lag Pilot
Valve
time of the prime mover, speed
High
overshoots thus decreasing the Pressure
Oil
fuel. Control Increase
Land Fuel
z Speed decreases until speed
Sump
equals speed setpoint. Oil Pump
Unstable Governor
Time
z Process is repeated remaining
unstable or in some conditions
becoming more and more Desired
Speed
Prime Mover Setpoint
unstable. Deceleration
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g Power Systems University
Governing Basics
Droop Governor
Feedback Arm
A droop governor
allows the feedback Output
Servo
arm to increase or
decrease the force High
Pressure
on the speeder Oil
Increase
spring, thus Fuel
increasing or Sump
Load
Added
Droop Curve
Droop Definition:
A decrease in
desired speed
setpoint for an
increase in load
or output servo
position
(feedback). 0%
LOAD 50% 100%
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g Power Systems University
Governing Basics
Droop Calculation
No Load Speed - Full Load Speed
% Droop = X 100
Rated Speed
Example of 5% Droop
3600 RPM (no load speed) 3600 RPM - 3420 RPM X 100 = 5% Droop
(rated speed) 3600 RPM
0% LOAD 100%
Mechanical Load or Gen. set loaded by a Load Bank
3780 RPM 63 Hz
(no load speed)
3600 RPM 60 Hz (full load speed) 3780 RPM - 3600 RPM X 100 = 5% Droop
(rated speed) 3600 RPM
0% LOAD 100%
Droop Calculation
Example of
5% Droop
105 RPM
63 Hz
(no load speed) Example of
5% DROOP
40%
50%
60%
10%
20%
70%
80%
90%
0%
100%
Wicket Gate Position / Load Slide 36
g Power Systems University
Governing Basics
40%
50%
60%
10%
20%
70%
80%
90%
0%
100%
Wicket Gate Position / Load Slide 37
g Power Systems University
Governing Basics
Load Increases
By 20%
30%
40%
50%
60%
10%
20%
70%
80%
90%
0%
100%
Wicket Gate Position / Load Slide 38
g Power Systems University
Governing Basics
40%
50%
60%
10%
20%
70%
80%
90%
0%
100%
Wicket Gate Position / Load Slide 39
g Power Systems University
Governing Basics
40%
50%
60%
10%
20%
70%
80%
90%
0%
100%
Wicket Gate Position / Load Slide 40
g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
Isochronous Definition
ISOCHRONOUS
(ISO+CHRONOS = SAME +TIME)
CONSTANT SPEED
No change in speed setting
with an change in load
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g Power Systems University
Governing Basics
Isochronous Curve
Speed / Speed Setpoint
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
z Speed Sensor
z Speed Reference
z Summing Point
z Stabilizing Method
z Hydraulic Pressure Source
z Output Servo
z Controlling Amplifier
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g Power Systems University
Governing Basics
Actuators
Proportional Actuator
Level Adjustment
Centering
Screw Increase
Fuel
Coil
+
Demand
From Governor
_
Coil
Permanent
Magnet
High Pressure
Control Oil
Integrating Actuator
Null Current LVDT LVDT
Adjustment Excitation Feedback
Centering Centering
Springs Screw
Increase
Fuel
+ Coil
Demand N N
CL
From Governor
S S
- Coil
Magnet
(-) High Pressure Oil
Power Servo
Control Pressure
CL
Control Port
Control Land
To Sump
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g Power Systems University
Governing Basics
Speed Sensing
• Speed of the prime mover is
sensed using Magnetic Pickups
(MPU).
• An MPU generates a frequency
signal that is directly proportional
to the speed of the prime mover.
• Single pole, alternating current,
electric generator.
• Single magnet, attached to a pole
piece which is wrapped with
multiple layers of copper wire.
• The ferrous gear teeth and the magnet creates a path for the magnetic lines of force.
• Making and breaking of the flux lines induces an alternating voltage into the coil around the
pole piece.
• Each pulse is represented by a gear tooth passing by the Magnetic Pick-up.
• The Impedance of a Magnetic Pick-up is approximately 220 ohms.
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g Power Systems University
Governing Basics
Magnetic Pick-Up’s
Magnetic Lines Ferrous Gear
of Force
s s S
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g Power Systems University
Governing Basics
OR
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g Power Systems University
Governing Basics
Proximity Probes
z Proximity Probes or Proximity Switches are active devices usually used where slow
rpm or a large air gap is required. This is necessary due to the large runout of the
monitored gear and the slow speeds of large engines or turning gears on turbines.
These have a slower surface speed which an MPU cannot detect.
z Proximity probes require an external power supply, usually 24 Vdc to operate.
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g Power Systems University
Governing Basics
Hydraulic- Electrical
Mechanical Analog Digital
z Speed Fly Weights Magnetic Pick Up or Magnetic Pick Up or
Sensing Proximity Probe Proximity Probe
z Reaction to Error Pilot Valve Porting PID Amplifier Software PID Block
Signal Slide 58
g Power Systems University
Governing Basics
Error
PID Feedback
Output Output
To To
Other Inputs Amplifier Actuator
(Load Sensor)
(Synchronizer) PID
(Droop Signal)
(Etc.)
Actual Speed
The Set-point or reference is where you would like the actual measurement to be.
Error is defined as the difference between the set-point and actual measurement
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g Power Systems University
Governing Basics
Summing Point
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g Power Systems University
Governing Basics
Desired Speed
+DC Volts PID Feedback
Actuator
Actual Speed
- D.C. Volts Prime Generator
Mover
Frequency
to
Voltage Converter Magnetic
Pickup
AC Sine Wave
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g Power Systems University
Governing Basics
PID Feedback
Summing Junction
+
Adjustable Dynamics Output To
+ Error Signal and Amplification
Fuel Valve
-
-
PID
The
Thesetpoint
setpointisisthe
theonly
onlyparameter
parameteraccessible
accessibleininthe
theclosed
closedloop
loop
Actual (-) system.
system.
The
Thecontrol
controlwill
willforce
forcethe
theactual
actualparameter
parametertotomatch
matchthe the
setpoint
setpointby
byactuating
actuatingthethefuel
fuelvalve.
valve.
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g Power Systems University
Governing Basics
Generator
Servomotors
Valve
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g Power Systems University
Governing Basics
Generator
Summing
Point Error Servomotors
Signal
Valve
Prime Mover
Thrust Flyweights
ZVPU
Bearing
Interface Module
Zero Velocity
Pickups
Slide 66
g Power Systems University
Governing Basics
HSS - LSS
LSS
Speed Control
HSS
Temperature Control
Accel Control
Output
To
High Limit
Actuator
Decel Control
Low Limit
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g Power Systems University
Governing Basics
HSS - LSS
z LSS = Low Signal Select. Whichever input is the
lowest, will be sent to the output.
z HSS = High Signal Select. Whichever input is the
highest will be sent to the output.
z These Hardware or Software algorithms allow
different items to be in control as they are needed.
z Only one input can be in control at any one time.
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
Example of LSS
z The two inputs on the LSS are speed and
temperature.
z If the temperature input ever exceeds the speed,
then the fuel would be limited by temperature.
z Exhaust Gas Temperature, Compressor
Discharge Pressure, Manifold Air Pressure, Lube
Oil Temperature, Multiple Speeds, are examples
of LSS Inputs.
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g Power Systems University
Governing Basics
Example LSS
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
Example of HSS
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g Power Systems University
Governing Basics
Example of HSS
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g Power Systems University
Governing Basics
Example HSS
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
What is a PID ?
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g Power Systems University
Governing Basics
PID Tutorial
z The Set-point or reference is where you would
like the actual measurement to be. Error is
defined as the difference between the set-point
and actual measurement.
Speed Reference or
Desired Set - Point
Feedback
Error Output
Other Inputs To Amplifier Output
(Load Sensor) PID To
(Synchronizer) Actuator
(Etc.)
Actual Speed
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g Power Systems University
Governing Basics
PID Tutorial
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g Power Systems University
Governing Basics
PID Tutorial
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g Power Systems University
Governing Basics
PID Tutorial
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g Power Systems University
Governing Basics
PID Tutorial
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g Power Systems University
Governing Basics
PID Tutorial
z Gain - The gain is the proportional gain term in the
PID controller.
z With Proportional Gain, the control output is
proportional to the error in measurement or set-
point.
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g Power Systems University
Governing Basics
PID Tutorial
z Reset - The reset is the integral term in the PID
controller.
z With integral action, the controls output is
proportional to the amount of time the speed error is
present.
z It prevents slow hunting at steady state and controls
the time rate at which the speed error returns to zero
after a speed or load disturbance.
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g Power Systems University
Governing Basics
PID Tutorial
z Compensation - The compensation is the derivative
term in the PID controller.
z With Derivative action, the controls output is
proportional to the rate of change of the
measurement or error.
z The controls output is calculated by the rate of
change of the measurement with time.
z Compensation is used to avoid overshoot.
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g Power Systems University
Governing Basics
PID Tutorial
RESET
ADJUSTMENT
SPEED
GAIN
ADJUSTMENT
COMPENSATION
ADJUSTMENT
TIME
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
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g Power Systems University
Governing Basics
Governor Assumptions
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