Applied Mathematical Modelling 37 (2013) 76117623

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Applied Mathematical Modelling

journal homepage: www.elsevier.com/locate/apm

Nonlinear dynamical analysis of hydro-turbine governing

system with a surge tank
Diyi Chen a,b, Cong Ding a, Xiaoyi Ma a,, Pu Yuan a, Duoduo Ba a
a
Department of Electrical Engineering, Institute of Water Resources and Hydropower Research, Northwest A&F University, Yangling 712100, Shaanxi, China
b
School of Electrical, Computer and Energy Engineering, Arizona State University, Tempe, AZ 85287, USA

a r t i c l e i n f o a b s t r a c t

Article history: This paper brings attention to a new nonlinear mathematical model of a hydro-turbine
Received 7 April 2012 governing system with a surge tank. The nonlinear mathematical model, which is
Received in revised form 19 September described by state-space equations, is composed of Francis turbine system, electrical gen-
2012
erator system, conduit system and governor system. Furthermore, the nonlinear dynamical
Accepted 9 January 2013
Available online 14 March 2013
behaviors of the system with different parameters are studied exhaustively including
bifurcation diagrams, time waveforms, phase orbits, Poincare maps, spectrograms and
power spectrums. Fortunately, some interesting phenomenons are found from numerical
Keywords:
Hydro-turbine governing system
simulation results. More important, all of the above analyses supply some theory bases
Nonlinear dynamics for designing and running of a hydro-turbine governing system.
Hydropower plant 2013 Elsevier Inc. All rights reserved.
Bifurcation
Numerical simulation

1. Introduction

Hydropower, as a clean and renewable energy source, has many economic, technical and environmental benets. In order
to meet the increasing demand for electricity, most countries give priority to its development, and many hydropower plants
have been built [14]. As we all know, hydraulic turbine governing system (HTGS) is one of the most important parts of
hydropower plant, which plays a key role in maintaining safety, stability and economical operation for the hydropower plant
[5]. Therefore, the study of the governing system becomes a necessary and important thing. However, HTGS is in essence a
complex nonlinear, time-variant and non-minimum phase system for it involves hydrodynamics, mechanical dynamics and
electrical dynamics [6,7].
Therefore, building proper mathematical models becomes a difcult and necessary work. Fortunately, there are many
contributions to the modeling of hydropower plant and its response analysis. First, there are many different models in terms
of every part of the hydropower system [8]. For example, for the conduit system, no-elastic model and elastic model were
adopted in different papers [911]. Furthermore, owing to neglecting hydraulic resistance, no-elastic model was used in the
short pipeline. Comparatively, elastic model was adopted in the long pipeline. The conduit system model with a surge tank
was built based on the above principle in this paper. With regard to hydro-turbine, different approximate formulas were pre-
sented in different papers. Some assume that the output of hydro-turbine is proportional to the product of head and volume
ow [12]. Approximatively, others express these contents by using rst-order Taylor formula [13]. As we all know, the partial
derivatives of the model equation depend on the operating condition, so they are different at different operating condition.
Therefore, xed partial derivatives can only be used in the study of hydropower system with small disturbance. In other

Corresponding author. Tel.: +86 136 1928 0778, mobile: +1 480 577 4579; fax: +86 29 8708 2901.
E-mail addresses: ieee307@163.com, diyi.chen@asu.edu (X. Ma).

0307-904X/$ - see front matter 2013 Elsevier Inc. All rights reserved.
http://dx.doi.org/10.1016/j.apm.2013.01.047
7612 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623

Nomenclature

H(s) laplace transform of h, p.u.

Q(s) laplace transform of q, p.u.
g gravitational acceleration
l penstock length, m
A penstock area, m2
D penstock diameter, m
f head loss coefcient in penstock, p.u
Q0 turbine ow in penstock in operating condition, m3/s
H0 hydraulic head in penstock in operating condition, m
a pressure wave velocity, m/s
Zp hydraulic surge impedance of penstock, p.u.
hf friction loss in the conduit, p.u.
DH water stage deviation in surge tank, m
DQ ow deviation in surge tank, m3/s
Aj surge tank area, m2
Tj water time constant of surge tank, s
Te elastic time constant, s
Tw water starting time, s
mt incremental torque deviation, p.u.
q incremental turbine ow deviation, p.u.
xt incremental turbine speed deviation, p.u.
xs power network frequency, p.u.
y incremental guide vane/wicket gate position deviation, p.u.
h incremental turbine head deviation, p.u.
ex, ey, eh partial derivatives of the hydro-turbine torque with respect to head, guide vane and turbine speed, p.u.
eqx, eqy, eqh partial derivatives of the ow with respect to head, guide vane and turbine speed, p.u.
d rotor angle, rad
d0 rotor angle in operating condition, rad
Dd increment rotor angle, rad
x turbine/rotor speed, rad/s
Dx turbine/rotor speed deviation, rad/s
xb base angular speed, 314 rad/s
E0 transient internal voltage of armature, p.u.
E00 transient internal voltage of armature in operating condition, p.u
T 0d0 direct axis transient time constant, s
Efd eld voltage
xd direct axis reactance, p.u.
x0d direct axis transient reactance, p.u.
xq quadrature axis reactance, p.u.
id direct axis stator currents, p.u.
Tab mechanical starting time, s
Mt mechanical torque of the turbine, N m
Me electrical load torque, N.m
D1 damping factor, p.u.
pe terminal active power
pe0 terminal active power in operating condition, p.u.
Ty engager relay time constant
kp proportional adjustment coefcient
ki integral adjustment coefcient
kd differential adjustment coefcient

words, the results could only approximate to the actual situation. While, we can get six detailed expressions about these six
transfer coefcients with turbine speed and head [14,15]. As regards the power generator and load, there are many different
models, such as, rst order, second order, third order, and so on [1618]. We all know that the simpler the generator model
is, the more inexact the study results are more. Obviously, if the generator model adopted is too complex, the study work will
be harder. Therefore, the model should be chosen suitably. The third order model, which is used in this paper, is recom-
mended by IEEE.
 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623 7613

Second, in terms of the method of the system response analysis, the classical control theory and modern control theory
were introduced into the study of hydropower plant system in succession. Furthermore, most of these studies only focus on
the steady of the hydro-turbine governing system and the improvement of the controller [11,16,19]. However, there are few
papers that pay attention to the study of the system motion characteristics. Fortunately, nonlinear dynamics theory has been
introduced into the study of the hydro-turbine governing system [20]. Although bifurcation analysis has been involved in
these papers, many methods of nonlinear dynamical analysis, such as Poincare maps, spectrograms and power spectrums,
are not presented.
Motivated by the above discussion, there are three advantages which make our approach attractive, compared with prior
works. First, a new nonlinear mathematical model of hydraulic turbine governing system with surge tank is presented, which
is more consistent with actual project. Second, the nonlinear dynamical behaviors of the above system with different param-
eters are studied in detail. Third, the necessary numerical simulation results are presented.
The rest of the paper is organized as follows: in Section 2, a new nonlinear mathematical model of the hydro-turbine gov-
erning system with a surge tank is presented. Furthermore, the nonlinear dynamical behaviors of the system are carried out
by using numerical simulation in Section 3. Conclusions and discussion in Section 4 close the paper.

2. Mathematical model

To explain the working briey, a hydropower plant scheme is shown in Fig. 1. Water from the reservoir enters the tunnel,
and ows through surge tank and penstock before reaching turbine gate. Next, it ows into scroll casing, and promotes the
hydro-turbine to rotate. The hydro-turbine and power generator are combined into a union by shaft coupling. The water,
which ows into the hydro-turbine, is regulated by wicket gates, which are opened and closed by an oil hydraulic servo-
mechanism controlled by the governor. The governor acts due to the deviation between the developed torque and the elec-
tric demand. Therefore, we can divide the whole system into ve parts, which are conduit system, hydro-turbine, governor,
electro-hydraulic servo system and power generator.

2.1. Conduit system model

The head and ow equation between two sections of penstock can be deduced from the moment equations and continuity
equations. It can be described as [16]
  " # 
HD s chrl zc shrl HU s
shrl ; 1
Q D s zc
chr Dx Q U s

where subscript D is the symbol of upstream section of pipeline, subscript U is the symbol of downstream,
p
l is the penstock
length, r and zc are the composite equations of parameters of the penstock. And r LCs2 RCs, zc = r/(Cs).
L, R, C among the equation can be written as
2
L Q 0 =gAH0 ; C gAH0 =a2 Q 0 ; R fQ 0 =gDA2 H0 ;
where A, f, D are parameters of the penstock. They represent area, head loss and diameter of pipeline, respectively. H0, Q0 are
hydraulic head and turbine ow in penstock in operating condition, respectively.

Reservoir
U3
Surge tank
3 2

Tunnel D3

U1 Power grid

Penstock Generator

D1

Hydro-turbine
Turbine gate

Draft tube

Fig. 1. A general layout of hydropower plant.

7614 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623

Combining L, R and C, r and zc can be rewritten as

1 hf hf a
r s ; zc  Z p ;
a Zp s
2
where Zp = (aQ0)/(gAH0) is the hydraulic surge impedance of the penstock and hf fQ 0 =2gDH0 A2 is the friction loss in the
conduit.
First, considering the surge tank, the relationship between water stage and ow deviation in surge tank can be repre-
sented as:
Z
DH DQ =Aj dt:

Considering both small displacements of the operating point and p.u. expressions, it follows:
Gs Hs=Q s 1=T j s; 2
where Tj = H0Aj/Q0 is the water starting time (or water time constant) of surge tank.
Second, as penstock 1 is very short, we assume that it is an ideal model, neglecting the hydraulic friction losses. The head
and ow equation between two sections of penstock 1 can be deduced as
  " #
HD1 chT e1 s Z p1 shT e1 s  HU1 
shT e1 s ; 3
Q D1 Z p1
chT e1 s Q U1

where Te = l/a depends only on the length of the penstock and the velocity of water hammer wave.
Third, one considers the hydraulic friction losses and HU3 = 0 (tunnel 3 connects with reservoir directly). Thus, the head
and ow function can be simplied as
HD3 zc3 shr 3 l3 Q U3 and Q D3 chr 3 l3 Q U3 : 4
Analyzing the conjunction of tunnel 3 and penstock 1, we know that the ow of penstock 1 is equal to the difference of the
ow in surge tank and the ow of tunnel 3. Therefore, the pressure is almost equal with each other, everywhere. Thus, the
ow equations can be got as
Q U1 Q D3  Q 2 Q D3  T j sHD3 and HD3 H2 HU1 : 5
Substituting Eq. (4) into Eq. (5), the ow function of penstock 1 inlet could be obtained as
Q U1 fchr 3 l3  T j szc3 shr 3 l3 gQ U3 : 6
If one denotes GD1 = HD1(s)/QD1(s), we can obtain the equation of GD1 as follows:
chT e1 szc3 shr 3 l3   Z p1 shT e1 schr 3 l3 zc3 shr 3 l3 T j s
GD1 shT e1 s
: 7
Z p1
zc3 shr 3 l3  chT e1 schr3 l3 zc3 shr3 l3 T j s

One sets Te1s  1 and r3l3  1, we have

 
GD1  T w3 s hf 3  T w1 s1 T j sT w3 s hf 3  =f1 T w1 sT w3 s hf 3 =Z 2p1 T j sT w3 s hf 3 g; 8

where Tw = ZpTe = lQ0/gfH0 is water inertia constant.

Generally, Tj is much larger than Tw1, so we can neglect the second part of denominator. Eq. (8) can be reduced as
Hs T w3 s hf 3
GD1  T w1 s: 9
Q s 1 T j sT w3 s hf 3

2.2. Turbine model

For a small change around the rated operating point, the equation of the turbine can be represented as below [17,21]:

mt ex xt ey y eh h;
10
q eqx xt eqy y eqh h:
The six constants of hydro-turbine ex, ey, eh, eqx, eqy, eqh are the partial derivatives of the torque and ow with respect to
turbine speed, guide vane and head, respectively. Generally speaking, these six constants are different at the different oper-
ating point, so as the operating point changes, these six constants will also alter. Moreover, due to hydro-turbine synthetic
characteristic curve, we can get six detailed expressions about these six transfer coefcients with turbine speed and head.
p p
ey eym h 1; eqy eqym h 1; ex exm h 1; eqx eqxm ; eh ehm ; eqh eqhm =xt 1: 11
 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623 7615

2.3. Generator model

A synchronous generator connected to an innite bus through a transmission line, is considered as the target system. The
third order nonlinear dynamical model is the classical ux-decay model which, after making standard considerations, can be
written as [22]:
dd dDd
x b Dx ; 12
dt dt
0
dE Efd  E0  xd  x0d id
; 13
dt T 0do

dx 1
M t  M m  D1 x; 14
dt T ab
where

E0  V cos d VE0 sin d 1 V 2 x0d  xd sin 2d

id ; D x xt  xs ; pe : 15
x0d x0d 2 xq x0d

2.4. Hydraulic servo system model

The servomotor, as the actuator, is used to amplify control signal and provide power to operate the guide vane. And its
transfer function can be shown as:
G1 s 1=1 T y s; 16
where Ty is the engager relay time constant.

2.5. Governor model

At present, the parallel PID control law is widely used in hydraulic turbine governor, and the PID controller could be ex-
pressed as:
G2 s kp ki =s kd s; 17
where kp, ki, kd are the proportional, integral and differential adjustment coefcient, respectively.
After substituting Eq. (17) into Eq. (16), we can transfer the results into state-space model. At last, the mixed function can
be obtained as follows

x 10-3
10

8
xt

2
0 2 4 6 8
Differential Adjustment Coefficient kd

Fig. 2. Bifurcation diagram of Eq. (24) with the differential adjustment coefcient response Kd and xs = 0.002.
7616 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623

 Z
dy 1
kp Dx  ki Dx  kd x_ t  y : 18
dt T y
The state-space equation form of Eq. (9) can be described as follows:
8
< x_ 1 x2 h1 h;
>
x_ 2 x3 h2 h; 19
>
:_
x3 a1 x3  a2 x2  a3 x1 h3 h;

q x1 h0 h; 20

x 10-3
5 0.015

4 0.01

3 0.005

2 0
xt

1 y -0.005

0 -0.01

-1 -0.015
0 5 10 15 20 0 5 10 15 20
Time Time
(a) (b)
0.15 0.6

0.1 0.4

0.05 0.2

0 0
h

-0.05 -0.2

-0.1 -0.4

-0.15 -0.6

-0.2 -0.8
-1 0 1 2 3 4 5 -1 0 1 2 3 4 5
xt x 10-3 xt x 10-3

(c) (d)
x 10-3
4
5
0
3
Power Spectrum of xt

-5
-10
|x t |

2
-15
-20
1
-25
-30
0
0 2 4 6 8 10 0 10 20 30 40
Frequency (Hz) Frequency (Hz)
(e) (f)
Fig. 3. Time waveforms, phase orbit, Poincare map, spectrogram and power spectrum with kd = 0.1. (a) Time waveforms with xt  t; (b) Time waveforms
with y  t; (c) phase orbit; (d) Poincare map; (e) spectrogram; (f) power spectrum.
 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623 7617

where
a1 hf 3 =T w3 ; a2 T w3 T w1 =T w3 T j T w1 ; a3 hf 3 =T w1 T j T w3 ;

h0 0; h1 1=T w1 ; h2 0; h3 1=T 2w1 T j :

As shown in the above, the variables of the generator model are only relative magnitudes, while the variables of the hy-
dro-turbine model are relative deviations. Therefore, in order to combine these two parts together, what should be done is to
unify the form of the two models variables. Here, we change the form of generators variables. Furthermore, for that the elec-
trical torque is closed to the power of the generator, we use the power instead of the torque, which is more feasible and sim-
ple. Thus, neglecting the inuence of damping torque, Eq. (14) could be rewritten as
dxt 1
mt  pe  pe0 ; 21
dt T ab

x 10-3
5 0.01

4
0.005
3

2 0
xt

y
1
-0.005
0

-1 -0.01
0 5 10 15 20 0 5 10 15 20
Time Time
(a) ( b)
0.01

0.01
0.005
0.005

0
h

0
h

-0.005

-0.01 -0.005
0.01
10
0 5
0 x 10-3 -0.01
-0.01 -5 0 1 2 3 4
y xt xt x 10-3

(c) (d)
-3
x 10
4
5

3 0
Power Spectrum of xt

-5
|x t |

2 -10

-15

1 -20
-25

0 -30
0 2 4 6 8 10 0 10 20 30 40
Frequency (Hz) Frequency (Hz)
( e) (f)
Fig. 4. Time waveforms, phase orbit, Poincare map, spectrogram and power spectrum with kd = 0.167. (a) Time waveforms with xt  t; (b) Time waveforms
with y  t; (c) phase orbit; (d) Poincare map; (e) spectrogram; (f) power spectrum.
7618 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623

x 10-3
3.5 0.02

3
0
2.5

2
-0.02
xt

y
1.5

1
-0.04
0.5

0 -0.06
0 5 10 15 20 0 5 10 15 20
Time Time
(a) ( b)
0.02 0.01

0 0.005

0
-0.02
-0.005
-0.04

h -0.01
-0.06
-0.015
-0.08
-0.02

-0.1 -0.025
0 0.5 1 1.5 2 2.5 3 3.5 0 0.5 1 1.5 2 2.5
xt -3
x 10 xt -3
x 10

(c) (d)
-3
x 10
4
5

3 0
Power Spectrum of xt

-5
|x t |

2 -10

-15
1
-20

-25
0
0 2 4 6 8 10 0 10 20 30 40
Frequency (Hz) Frequency (Hz)
( e) (f)
Fig. 5. Time waveforms, phase orbit, Poincare map, spectrogram and power spectrum with kd = 5. (a) Time waveforms with xt  t; (b) Time waveforms with
y  t; (c) phase orbit; (d) Poincare map; (e) spectrogram; (f) power spectrum.

where

VE0 sind0 Dd 1 V 2 x0d  xd sin 2d0 Dd

pe ; 22
x0d 2 xq x0d

VE00 sin d0 1 V 2 x0d  xd sin 2d0

pe0 : 23
x0d 2 xq x0d
Based on the above discussion, combining every parts of the governing system into organic unity, its differential equation
could be described as:
 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623 7619

x 10-3
3 0.1

2.5
0.05
2

1.5 0
xt

y
1
-0.05
0.5

0 -0.1
0 5 10 15 20 0 5 10 15 20
Time Time
( a) ( b)
200

0.1 150
0.05
100
0
h

h
-0.05 50

-0.1
0.1 0
3
0 2
1 -50
x 10-3 0 0.5 1 1.5 2 2.5 3
-0.1 0
y xt xt x 10-3

(c) (d)
x 10-3
4
5

3 0
Power Spectrum of xt

-5
|xt|

2 -10

-15
1
-20

-25
0
0 2 4 6 8 10 0 10 20 30 40
Frequency (Hz) Frequency (Hz)
( e) (f)
Fig. 6. Time waveforms, phase orbit, Poincare map, spectrogram and power spectrum with kd = 8.98. (a) Time waveforms with xt  t; (b) Time waveforms
with y  t; (c) phase orbit; (d) Poincare map; (e) spectrogram; (f) power spectrum.

8
>
> x_ 1 x2 h1 h;
>
>
>
> x_ 2 x3 h2 h;
>
>
>
>
>
> x_ 3 a1 x3  a2 x2  a3 x1 h3 h;
>
>
< D_ d xb Dx;
24
>
> E_ 0 Efd  E0  xd  x0d id =T 0do :
>
>
> x_ t mt  p  p =T ab :
>
>
> e e0
> y_ k Dx  k R Dx  k x_  y=T :
>
>
>
> p i d t y
>
:_ p
h eqxm x_ t eqym h 1y_  x_ 1 =eqhm =xt 1:
7620 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623

0.12 150

0.1
100
0.08

0.06
50
xt

0.04

0.02
0
0

-0.02 -50
0 5 10 15 20 0 5 10 15 20
Time Time
(a) ( b)
20

4 0

-20
2
h

-40

h
0
-60
-2
1 -80
0 0.15
0.1
-1 0.05 -100
0 -0.01 -0.005 0 0.005 0.01
-2 -0.05
y xt xt

(c) ( d)
0.06

0.05 25
Power Spectrum of xt

0.04 20
|x t |

0.03 15

0.02 10

0.01 5

0
0 2 4 6 8 10 0 10 20 30 40
Frequency (Hz) Frequency (Hz)
( e) (f )
Fig. 7. Time waveforms, phase orbit, Poincare map, spectrogram and power spectrum with kd = 10. (a) Time waveforms with xt  t; (b) Time waveforms
with y  t; (c) phase orbit; (d) Poincare map; (e) spectrogram; (f) power spectrum.

3. Nonlinear dynamical analysis

When hydro-turbine operates in nominal condition, a small disturbance, such as the uctuation of the frequency of the
power system, the disturbance of load, the change of the penstock, etc., will break the steady-state of the system, and a new
operating condition will be reached. For the nonlinearity of each part, there will be a complex transient process of the whole
governing system. For the methods of analyzing dynamical behaviors in different external interference are approximately
same, this paper only focuses on the nonlinear dynamical behaviors as the frequency uctuations of the power network.
Even so, there are still many parameters of the governing system, and a small change of any parameter will lead to different
behaviors. Fortunately, the analysis method for each parameter is almost identical. Therefore, we only study the differential
adjustment coefcient kd.
Eq. (24) was numerically solved using MATLAB software, which utilizes a variable-step continuous solver based on four-
order RungeKutta formula. In this study, the time step is 0.01. The uctuation of the power network frequency is 0.1 Hz. In
other words, the value of xs is 0.002.
 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623 7621

x 10-3 x 10-3
4 4

3 3

2 2

t
xt

x
1 1

0 0
0 5 10 15 20 0 5 10 15 20
Time Time
( a) ( b)
x 10-3 x 10-3
3.5 3

3 2.5
2.5
2
2
1.5
t
t
x

x
1.5
1
1

0.5 0.5

0 0
0 5 10 15 20 0 5 10 15 20
Time Time
( c) (d)
Fig. 8. Time waveforms with kd = 1, 2, 7, 8. (a) kd = 1; (b) kd = 2; (c) kd = 7; (d) kd = 8.

The results of the numerical simulation are illustrated using bifurcation diagrams, time waveforms, dynamical orbits,
Poincare maps, and power spectrum plots. First, for the sake of having an overview of the essential dynamics of the govern-
ing system, the bifurcation diagram about kd is presented as shown in Fig. 2. From the bifurcation diagram, we can get that
there are two important points (kd = 0.167 and kd = 8.98), and for the range 3 6 kd 6 7, the system was obviously steady. Sec-
ond, in order to further study the dynamical behaviors, time waveforms, dynamic orbits, Poincare maps, and power spectrum
plots are presented with different kd.
For kd = 0.1, as shown in Fig. 3, the turbine speed and the deviation of wicket gate position increase gradually, and many
discrete and disordered points appear in the Poincare map. Moreover, there is only 1 in the power spectrum. Therefore, we
know that the time interval between two adjacent minimums of xt and y is a constant (one unit). Instead of tending to be
stable, the governing system would lose stability nally.
Fig. 4 shows time waveforms, phase orbit, Poincare map, spectrogram and power spectrum with kd = 0.167. The motion
regularities of the turbine speed and the deviation of wicket gate position both are periodical. A limit cycle appeared in the
phase orbit. Similarly, only two points turn up in the Poincare map. Moreover, there is only 1 in the power spectrum. These
results indicate that the governing system makes a periodic vibration and further reveal that the system can not tend to be
stable.
The responses of the governing system with kd = 5 are respectively illustrated in Fig. 5 using time waveforms, phase orbit,
Poincare map, and power spectrum. From Fig. 5, the turbine speed, deviation of wicket gate position and rotor angle tend to
be a constant radically. Furthermore, there are some discrete points in the Poincare map including the nal stability point
xt = 0.002, h  0. Similarly, not a lot of noise waveforms appear in the spectrogram. Therefore, all these results indicate that
the system can better cope with disturbances and keep steady at this value of the differential adjustment coefcient.
The system dynamical behaviors at kd = 8.98 are shown in Fig. 6. The turbine speed, deviation of wicket gate position and
head tend to be periodic motion after a large change gradually. Therefore, the motion of the governing system at this value of
the differential adjustment coefcient is periodic vibration. Therefore, it is the critical value of kd.
The time waveforms, phase orbit, Poincare map, and power spectrum of the unstable responses of system with kd = 10 are
shown in Fig. 7. The turbine speed and rotor angle have left their original position largely, which indicate that this value of
the differential adjustment coefcient can not be used.
7622 D. Chen et al. / Applied Mathematical Modelling 37 (2013) 76117623

The waveforms of the turbine speed for the value of kd = 1, 2, 7, 8 are shown in Fig. 8. The farther from the two critical
points (kd = 0.167 and kd = 8.98) and the nearer the middle place the value of kd is, the quicker the convergence rate is
and the more stable the system is.

4. Conclusions and discussion

In the rst place, a detailed nonlinear mathematical model including the effects of the surge tank is developed using state-
space equations. Secondly, the nonlinear dynamical behaviors of the governing system are presented including bifurcation
diagrams, time waveforms, phase orbits, Poincare maps, spectrograms and power spectrums with the frequency uctuations
of the power network. The numerical simulation results show that the value of differential adjustment coefcient should be
between two critical places and the farther the better.
Although this paper only studies with the simulation method, nonlinear dynamical theory is introduced into the study of
a hydropower plant. In our future work, the correctness of the numerical simulation results will be inspected; bifurcation
theory analysis will be introduced. Moreover, the nonlinear dynamical behaviors of the system with only a small disturbance
are studied in this paper; the situations of large changes or non-full rated operating state are not involved. Therefore, our
future work is to study the responses of the system with large disturbances or the change of operating conditions.

Acknowledgements

The authors thank two reviewers for a number of useful suggestions on improving this paper. This wok was supported by
the scientic research foundation of National Natural Science Foundation (51109180).

Appendix A.

Conduit parameters are

T w1 0:2 s; hf 3 0:01p:u; T w3 4 s; T j 168 s:
.
The values of constants for hydro turbine model are
eqxm 0:2p:u; eqym 0:79p:u; eqhm 0:52p:u; exm 1:06p:u; eym 0:8p:u; ehm 1:44p:u; T ab 8 s:
Generator parameters are

V 1:0p:u; E00 1:3p:u; xd 0:95p:u; x0d 1:8p:u; xq 1:4p:u; Efd 1:8305p:u; T d0 5:6 s;
d0 p=4 rad;xb 314 rad=s:
Parameters of governor are
T y 0:1s; kp 5p:u; ki 4p:u:

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