FM3217 – Hydro Power Systems
https://fm3217.dwe.no

• Teacher: Dietmar Winkler

• When and where?

  • Tuesdays 08:15 to 10:00 hours in A-191
  • Thursdays 13:15 to 17:00 hours in A-280

  See also Schedule for details

Official course description

Based on a simulation assignment (counts 30%) and individual examination (counts 70%), see below

• Assignment

  Counts

  30%

  Details

  see Assignment

• Final exam

  Counts

  70%

  Date

  tba

  Duration

  3 hours

  Location

  tba

  Notes

  Multiple choice, no helping aids allowed.

Hydro power (general)

• My link collection of images and videos of hydro power parts and systems.
• "Guide on How to Develop a Small Hydropower Plant" by European Small Hydropower Association(ESHA) - Interesting summary of all different parts of a small hydropower plant.
  • part one
  • part two

Fluid mechanics

• "Fluid mechanics, thermodynamics of turbomachinery" by Sydney Lawrence Dixon (Chapter 9 especially)
• "Fluid mechanics" by John F. Douglas, John A. Swaffield (also available in the library)

Electrical Power Systems

• "Electrical Power Systems Essentials" by Pieter Schavemaker and Lou van der Sluis (Chapter 5 especially)
• "Electric Power Systems: A First Course" by Ned Mohan (Chapter 10, 11, 12 especially)

Modelica

• "Hydro Power Library – User's Guide" by Modelon AB
  • Introduction to how to use the HydroPower library in combination with Dymola.
• Talk about on Modelica as given at StrangeLoop 2016 Conference (introducing Modelica to non-Modelica people).
• Free online book: Modelica by Example by Michael Tiller
• Modelica Web Reference: https://webref.modelica.university/ (see also the blog entry about its creation)
• Introduction to Modelica using Dymola as tool (screen cast by Michael Tiller)
• Example of a coffee cup getting refilled (screen cast by Michael Tiller)
  • Modelica source file used for the coffee cup example
• Slides, videos, and examples from the "Workshop on Mathematical Aspects of Object-Oriented Modeling and Simulation" (created by Bernhard Bachmann)

Version Control Systems

• Blog: Will there be a whiteboard? with nice engineering related modelling topics (Michael Tiller)
• Git Parable
• Wikipedia on Version Control

Topics:

• Course info
• History of Hydro Power in Norway
• Dangers of Hydro Power

Topics:

• Kjølle(2001) Chapter 1 & 11
  • dams
  • intake (gates and valves)
  • tunnels and conduits
  • pressure shafts aka penstocks
  • valves

Topics:

• Kjølle(2001) Chapter 2
  • General theory
  • Turbine types
  • Energy equations for the different turbine types
  • Operation areas

Topics:

• Turbine Damages
• Turbine Classification, Kjølle(2001) Chapter 3
  • Introduction of reduced quantities
  • Deriving the speed number from reduced quantities
  • Meaning and usage of speed number
  • Performance diagram

Topics:

• Example design calculations for pelton turbines
• Vector Mathematics
• introduction of a "Control Volume"
• in- and extensive properties
• general formulation of change of properties
• lumped parameter model

Topics:

• Mass conservation
• Energy conservation
• Momentum conservation
• Media density

Topics:

• Mass flow calculations
  • Flow through volumes
  • Conservation of momentum
  • Flow through orifices and valves
  • Flow through open channels and reservoirs
• Turbine modelling
  • tables based
  • component based

Clarification:

It is sometimes confusing when the factor \(C_v\) is calculated. The challenge is that one can express the dependency of \(C_v\) from either \(Q\) or \(\dot{m}\).

Since \(Q = \frac{\dot{m}}{\rho}\) we can either have:

\(C_v = \frac{Q}{A\cdot\sqrt{2(p_\text{in}-p_\text{out})\color{red}{/}\rho}}\)

or

\(C_v = \frac{\dot{m}}{A\cdot\sqrt{2(p_\text{in}-p_\text{out})\color{red}{\cdot}\rho}}\)

See also equation (19.a) in Modelon(2012).

Topics:

• Asynchronous and Synchronous Generators
• Active and reactive power control

Topics:

• Active and reactive power control on the grid
• Introducing primary, secondary and tertiary control
• Primary control aka droop control
• Secondary control aka load frequency control (LFC) and automatic generation control (AGC)

Topics:

• Continuation of the previous lecture:
  • Tertiary control: Area Control Error
  • Typical control structure from a turbine governor: HydrotrolSchematic.png

Topics:

• Transfer-function based modelling

Notes

• TF-basedModelling.pdf
• See also Tutorial 11

Topics:

• Summary of the course

Tasks

1. Get yourself a GitHub account (free plan) and email me your user name so I can in turn give you access to the course files repository.
2. Follow the following GitKraken Desktop installation instructions and use your existing GitHub account to sign in. There is no need to create an additional GitKraken Desktop account.
3. Watch the video tutorial Git Github Gitkraken: Version Control without Command Line
4. Play with Learn Git Branching - an interactive online tutorial

Topics

The Git Parable

• Blog article by Tom Preston-Werner (an article that tries to explain creation of a Git-like system)
• Visualizing Git website (used to demonstrate the Git graph)
• SHA1 generator website (used to demonstrate SHA1 hash creation)

Links

• What Engineers Need to Know About Version Control
• Wikipedia on Version Control
• Wikipedia article on Git as an example of distributed revision control system
• Interesting/funny Google tech talk: Linus Torvalds on Git
• Video Introduction to Git by Randel Schwarz (updated 2012 version)

Task

1. Install Dymola

Topics

• introduction to Modelica
• simple code based examples

Topics

• DC motor-drive
  • create a model using components from the MSL
  • create a component of your own
  • reuse of that component in a complete simulation model

Topics

• DC motor-drive
  • first look at how to create parameter dialogues
  • creating documentation for your models
  • more advanced parameter dialogues by usage of "groups", "tabs" and Modelica.Units.SI
• simple hydro system
  • create variants of one component using inheritance

Topics

• A multi-domain modelling example of an electric kettle
• A coffee and milk experiment

Topics

• Single conduit between water source and sink with
  • pressure difference
  • height difference
• Single penstock with valve
  • effects of the closing time
• Hydro Power System with source, conduit, penstock and sink
  • only with a closed volume as connection point
  • introducing a surge shaft

Topics

• Adding a upstream and downstream reservoir
• investigating the different parameter sets
• investigating the wave propagation
  • normal flow
  • changing the flow with help of a valve
• Building a model of Sundsbarm hydro power station (w/o turbine at first)

Parameters for Sundsbarm Powerstation

SundsbarmParameters.pdf

Topics

• Looking at an original example (HydroPower.Examples.PlantConnectAndDisconnectToGrid)
• Integrating a real turbine model into the Sundsbarm model

Topics

• Understanding the active power flow with the help of equivalent inertia models
• Understanding the reactive power flow with single and three-phase equivalent circuits

Topics

• Defining load changes use the ResistiveLoad model
• First glance at the influence of droop within the DroopSimulations model

Topics

• Continue to look at the DroopSimulations model from the previous tutorial
• Look at the influence of load changes using the LoadChanges model
• Look at the influence of random load changes in the RandomLoad model

Topics

• Compare a hydro power system modelled using transfer functions vs. interconnected components
• OpenModelica intro

GitKraken Desktop lets you use a free of charge version for private use which allows you to use GitKraken Desktop without limitations with all your local repositories on your PC and also with any open-source project hosted GitHub or similar Git providing platforms.

However there are some restrictions in the free personal version that you won't be able to access private repositories (i.e., hidden from public). Students can get access to the "pro" features for free for one year by simply applying for the:

• Get your Free Student Pack
• When applying for the pack make sure that you add your USN student address for verification which makes the verification quicker.
• The activation for the student pack is done automatically when you sign into GitKraken Desktop using the "Sign up with GitHub" option. This will connect to your GitHub.com account and detect the student pack so you will have the "Professional"-status.
• Attention: The automatic student pack detection will only work if you:
  1. Either have signed up for GitHub with your USN student email address
  2. or you add your USN student email to the list of associated email address in your GitHub account. See also https://github.com/settings/emails.
• make sure that you have registered a GitHub account (free plan) before you proceed.
• Download GitKraken Desktop from https://www.gitkraken.com/download
• Install GitKraken Desktop and on the "Welcome screen" select "Sign in with GitHub" and follow the instructions.

First have a look at the Modelica section of the additional literature page.