oSIST prEN IEC 61362:2023
(Main)Guide to specification of hydraulic turbine governing systems
Guide to specification of hydraulic turbine governing systems
Leitfaden zur Spezifikation der Regeleinrichtung von Wasserturbinen
Guide pour la spécification des systèmes de régulation des turbines hydrauliques
Vodilo za specificiranje sistemov za krmiljenje hidravličnih turbin
General Information
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Standards Content (Sample)
SLOVENSKI STANDARD
oSIST prEN IEC 61362:2023
01-september-2023
Vodilo za specificiranje sistemov za krmiljenje hidravličnih turbin
Guide to specification of hydraulic turbine governing systems
Leitfaden zur Spezifikation der Regeleinrichtung von Wasserturbinen
Guide pour la spécification des systèmes de régulation des turbines hydrauliques
Ta slovenski standard je istoveten z: prEN IEC 61362:2023
ICS:
27.140 Vodna energija Hydraulic energy engineering
oSIST prEN IEC 61362:2023 en
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST prEN IEC 61362:2023
4/469/CDV
COMMITTEE DRAFT FOR VOTE (CDV)
PROJECT NUMBER:
IEC 61362 ED3
DATE OF CIRCULATION: CLOSING DATE FOR VOTING:
2023-06-16 2023-09-08
SUPERSEDES DOCUMENTS:
4/429/CD, 4/468/CC
IEC TC 4 : HYDRAULIC TURBINES
SECRETARIAT: SECRETARY:
Canada Mrs Christine Geraghty
OF INTEREST TO THE FOLLOWING COMMITTEES: PROPOSED HORIZONTAL STANDARD:
TC 2,TC 57,TC 114
Other TC/SCs are requested to indicate their interest, if
any, in this CDV to the secretary.
FUNCTIONS CONCERNED:
EMC ENVIRONMENT QUALITY ASSURANCE SAFETY
SUBMITTED FOR CENELEC PARALLEL VOTING NOT SUBMITTED FOR CENELEC PARALLEL VOTING
Attention IEC-CENELEC parallel voting
The attention of IEC National Committees, members of
CENELEC, is drawn to the fact that this Committee Draft
for Vote (CDV) is submitted for parallel voting.
The CENELEC members are invited to vote through the
CENELEC online voting system.
This document is still under study and subject to change. It should not be used for reference purposes.
Recipients of this document are invited to submit, with their comments, notification of any relevant patent rights of
which they are aware and to provide supporting documentation.
Recipients of this document are invited to submit, with their comments, notification of any relevant “In Some
Countries” clauses to be included should this proposal proceed. Recipients are reminded that the CDV stage is
the final stage for submitting ISC clauses. (SEE AC/22/2007 OR NEW GUIDANCE DOC).
TITLE:
Guide to specification of hydraulic turbine governing systems
PROPOSED STABILITY DATE: 2026
NOTE FROM TC/SC OFFICERS:
Copyright © 2023 International Electrotechnical Commission, IEC. All rights reserved. It is permitted to
download this electronic file, to make a copy and to print out the content for the sole purpose of preparing National
Committee positions. You may not copy or "mirror" the file or printed version of the document, or any part of it,
for any other purpose without permission in writing from IEC.
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IEC CDV 61362/Ed3 © IEC:2023 – 2 – 4/469/CDV
1 CONTENTS
2
3 FOREWORD . 7
4 INTRODUCTION . 9
5 1 Scope . 10
6 2 Normative references . 11
7 3 Terms and definitions . 12
8 3.1 General terms and definitions . 12
9 3.1.1 Turbine governing system . 12
10 3.2 Terms and definitions related to control levels, control modes and
11 operational modes . 12
12 3.2.1 Control levels . 12
13 3.2.2 Control modes at the turbine governing level . 13
14 3.2.3 Main Operation modes . 13
15 3.3 Terms and definitions from control theory . 13
16 3.3.1 Differential equation . 13
17 3.3.2 Transient response . 13
18 3.3.3 Frequency response . 14
19 3.3.4 Transfer function . 14
20 3.4 Subscripts and prefixes . 14
21 3.5 Terms and definitions related to the plant and the units . 14
22 3.6 Terms and definitions relating to the governing system . 17
23 4 Governing system structure . 27
24 4.1 General . 27
25 4.2 Main control functions . 27
26 4.2.1 General . 27
27 4.2.2 Speed control . 27
28 4.2.3 Power output control . 27
29 4.2.4 Opening control . 28
30 4.2.5 Water level control . 28
31 4.2.6 Flow control . 28
32 4.3 Configurations of combined controllers . 28
33 4.3.1 General . 28
34 4.3.2 Parallel structure . 29
35 4.3.3 Series structures . 29
36 4.4 Special control functions . 30
37 4.4.1 Feed Forward Control . 30
38 4.4.2 Surge tank level or pressure feedback . 30
39 4.5 Pump Turbine Control . 31
40 4.5.1 General . 31
41 4.5.2 Conventional Pump Turbine Control . 32
42 4.5.3 Variable speed pump turbine control . 32
43 4.6 Manual control . 33
44 4.7 Linearization . 34
45 4.8 Limitation functions . 34
46 4.9 Bumpless control modes transition . 34
47 4.10 Optimization control . 35
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48 5 Functional performance . 36
49 5.1 General . 36
50 5.2 Modelling and digital simulation . 36
51 5.2.1 General . 36
52 5.2.2 Water passages . 37
53 5.2.3 Turbine, generator, electrical grid . 37
54 5.2.4 Control concept . 37
55 5.2.5 Hardware-in-the-loop simulation . 38
56 5.2.6 Personnel training . 38
57 5.2.7 Inaccuracy of plant simulators . 38
58 5.3 Characteristic parameters for PID-controllers . 39
59 5.3.1 General . 39
60 5.3.2 Permanent droop . 39
61 5.3.3 Proportional action coefficient K , integral action time T , and derivative
P I
62 action time T . 40
D
63 5.3.4 Tuning of turbine governing systems . 40
64 5.4 Other parameters of the governing systems . 41
65 5.4.1 Command signal adjustments for controlled variables (speed, power
66 output, etc.) and load limiter . 41
67 5.4.2 Governor insensitivity i /2 . 41
x
68 5.4.3 Dynamic characteristics of servo-positioner . 42
69 5.4.4 Parameters of servo-positioner . 43
70 5.4.5 Servo-positioner non-linearity by kinematics . 44
71 6 Servo Positioner Configurations . 45
72 6.1 Servo-positioners . 45
73 6.2 Configurations of servo-positioners . 45
74 6.3 Multiple actuator control . 46
75 6.3.1 General . 46
76 6.3.2 Parallel structure . 46
77 6.3.3 Series structure . 46
78 6.3.4 Individual control . 46
79 6.4 Dual regulation of turbines with controllable guide vane and runner blade
80 angles . 47
81 6.5 Dual control of turbines with needles and deflectors. 47
82 6.6 Other relationships. 47
83 7 Instrumentation. 48
84 7.1 General . 48
85 7.2 Rotational speed . 48
86 7.3 Power output . 48
87 7.4 Water level . 48
88 7.5 Actuator position (stroke) . 48
89 7.6 Signal transmission from electronic transmitters . 48
90 8 Safety functions and devices . 49
91 8.1 General . 49
92 8.2 Quick shutdown and emergency shutdown . 49
93 8.2.1 General . 49
94 8.2.2 Tripping actions . 49
95 8.2.3 Servomotor shutdown initiating devices . 49
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96 8.2.4 Tripping criteria . 49
97 8.2.5 Tripping strategies . 49
98 8.3 Overspeed protection device . 49
99 8.4 Interlocks . 50
100 9 Provision of actuating energy . 51
101 9.1 General . 51
102 9.2 System with an accumulator . 51
103 9.2.1 Pressure tank (air/oil accumulator) . 51
104 9.2.2 Piston accumulators . 53
105 9.2.3 Bladder accumulators . 53
106 9.2.4 Other systems . 53
107 9.2.5 Pumps for accumulator systems . 53
108 9.2.6 Oil sump tanks . 54
109 9.2.7 Auxiliary equipment . 54
110 9.2.8 Provision of pressurized gas . 54
111 9.3 Systems without accumulator . 55
112 9.3.1 Constant flow systems . 55
113 9.3.2 Variable flow systems . 55
114 9.4 Direct electric positioner . 56
115 9.5 Recommendation for hydraulic fluid selection . 56
116 10 Operational transitions . 57
117 10.1 Start-up and synchronization . 57
118 10.2 Normal shutdown . 58
119 10.3 Sudden load rejection . 58
120 10.4 Other operational transitions . 59
121 11 Supplementary equipment . 60
122 11.1 Measures to reduce pressure variations . 60
123 11.2 Surge control . 60
124 11.3 Equipment and measures to lower the speed rise . 60
125 11.4 Joint control . 60
126 11.5 Braking . 61
127 11.6 Synchronous condenser mode of operation . 61
128 12 Considerations for the electronic governor . 62
129 12.1 Equipment requirements . 62
130 12.2 Power supply recommendations . 62
131 13 How to apply the recommendations . 63
132 Annex A (normative) Simplified differential equations and transfer functions of
133 idealized PID-control functions . 75
134 Annex B (informative) Grid frequency control . 77
135 B.1 General . 77
136 B.2 Power equilibrium and grid frequency . 77
137 B.2.1 Power equilibrium . 77
138 B.2.2 Grid frequency . 77
139 B.3 Primary frequency control . 77
140 B.3.1 Primary frequency control performed by generating units . 77
141 B.3.2 Droop of a generating unit . 78
142 B.4 Secondary frequency control . 79
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143 Annex C (informative) Role of governing systems for stability in interconnected grid
144 operation . 80
145 C.1 General . 80
146 C.2 Stability of the unit with respect to the water hydraulic system . 80
147 C.3 Stability of the unit with respect to the electrical power system . 80
148 C.3.1 General . 80
149 C.3.2 Power oscillations due to the electrical power system . 81
150 C.3.3 Power oscillations due to pressure fluctuations in hydraulic machines . 81
151 C.3.4 Conclusion . 81
152 Annex D (informative) Quick shutdown and emergency shutdown . 83
153 D.1 General . 83
154 D.2 Alternative example I . 83
155 D.2.1 General . 83
156 D.2.2 Quick shutdown . 83
157 D.2.3 Emergency shutdown . 84
158 D.2.4 Summary table and combined tripping cases . 84
159 D.3 Alternative example II . 85
160 Bibliography . 87
161
162 Figure 2 – Controlled system self-regulation factor . 17
163 Figure 3 – Controlled variable range . 18
164 Figure 4 – Permanent droop . 19
165 Figure 5 – Proportional action coefficient and integral action time . 20
166 Figure 6 – Derivative time constant . 21
167 Figure 7 – Dead band . 22
168 Figure 8 – Minimum servomotor opening/closing time . 23
169 Figure 9 – Time constants of the servo-motor/servo-valve combination . 24
170 Figure 10 – Servo-positioner inaccuracy . 25
171 Figure 11 – Governing system dead time . 25
172 Figure 12 – Governing system with speed and power output control functions in
173 parallel . 29
174 Figure 13 – Governing system with speed control function and water level control
175 function in parallel . 29
176 Figure 14 – Governing system with power output and speed control functions in series . 30
177 Figure 16 – Schematic diagram of a turbine governing system with an additional
178 pressure feedback compensation control function . 31
179 Figure 17 – Governor function in conventional pump mode . 32
180 Figure 18 – Governor function of variable speed pumped storage systems in pump
181 mode . 32
182 Figure 19 – Governor function of variable speed pumped storage systems in turbine
183 mode with power output based control . 33
184 Figure 20 – Governor function of variable speed pumped storage systems in turbine
185 mode with rotating speed based control . 33
186 Figure 21 – Servo-positioner control loop – simplified dynamic model with P-controllers . 42
187 Figure 22 – Servo-positioner control loop - simplified dynamic model. 42
188 Figure 23 – Time step response and frequency response of the output of the servo-
189 positioner . 43
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190 Figure 25 – Parallel structure with defined functional relation and an additional signal
191 superimposition . 46
192 Figure 26 – Series structure with defined functional relation and additional signal
193 superimposition . 46
194 Figure 27 – Structure with different set-points for each servo-positioner . 47
195 Figure 28 – Pressure tank content and pressure ranges . 51
196 Figure 29 – Open-circuit system . 55
197 Figure 30 – Start-up speed curve up to synchronization . 58
198 Figure 31 – Load rejection . 59
199 Figure A.1 – Idealized PID in pure parallel structure . 75
200 Figure A.2 – Idealized PID alternative representation. 75
201 Figure B.1 – Example of principle schematic functional diagram of a unit with a turbine
202 governing system using an idealized PID control function with a frequency-power
203 droop . 78
204 Figure B.2 – Behaviour of two units with different governor permanent droop values . 79
205
206 Table 13.1– Unit and plant categories . 63
207 Table D.1 – Alternative I – Summary of cases for quick shut-down and emergency
208 shut-down . 85
209 Table D.2 – Alternative II – Summary of cases for quick shut-down and emergency
210 shut-down . 86
211
212
213
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214 INTERNATIONAL ELECTROTECHNICAL COMMISSION
215 ____________
216
217 GUIDE TO SPECIFICATION OF HYDRAULIC TURBINE
218 GOVERNING SYSTEMS
219
220 FOREWORD
221 1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
222 all national electrotechnical committees (IEC National Committees). The object of IEC is to promote international
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224 in addition to other activities, IEC publishes International Standards, Technical Specifications, Technical Reports,
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229 Standardization (ISO) in accordance with conditions determined by agreement between the two organizations.
230 2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
231 consensus of opinion on the relevant subjects since each technical committee has representation from all
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233 3) IEC Publications have the form of recommendations for international use and are accepted by IEC Natio
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