Search NASA⌕ Search

SEARCH · Search NASA

Results for “governor”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Synchronous Machine Governor Upgrade

Conventional generation sources play a critical role in the stability and reliability of the electrical grid, particularly as we transition towards more renewable energy sources. To understand and accurately emulate their behavior for optimizing grid operations and ensuring seamless integration with renewable technologies, it is essential to better emulate the grid- and plant-level impacts of conventional generation sources, such as natural gas (NG) driven heat recovery steam generators (HRSGs) and combustion turbines (CTs). Therefore, a governor model is developed in a programmable logic controller (PLC) to investigate the performance of the conventional generator under various dynamic operating conditions and to identify the impact on grid stability in a controlled environment. The governor model aims to enable the hardware-in-the-loop (HIL) based emulation of these conventional generation sources using the existing 2 MVA synchronous machine/generator that is driven by a flexible 2.5 MW variable speed drive. This setup will allow us to replicate the dynamic characteristics and response behaviors of NG-driven HRSGs and CTs. The controls for the emulated conventional plants follow the industry standard and are adjustable, ensuring they accurately reflect the operational capabilities and limitations of real-world systems. These controls include load-following capabilities, ramp rates, startup and shutdown sequences, and emissions characteristics. By incorporating these adjustable controls, we aim to capture the nuanced impacts of conventional generation, such as their ability to provide ancillary services like frequency regulation, voltage support, and spinning reserve. In this report, we simulate two types of dynamic operations: grid-connected and islanding. For each dynamic operation, representative starting sequences are tested, including turbine purge, ignition, speed ramping up, generator excitation and synchronizing, and breaker close. The HIL based tests provides insights for field deployment, specifically the high-fidelity governor model provides results to predict the potential stability and reliability risk and suggest possible integration measures (e.g., generation and load balancing, tuning of governor control parameters). Ultimately, this enhanced emulation capability will be integrated into our Advanced Research on Integrated Energy Systems (ARIES), enabling us to conduct comprehensive studies on the interactions between conventional and renewable energy sources. By better understanding these interactions, we can develop strategies to optimize the overall performance and reliability of the grid. This will support the deployment of advanced grid management techniques, such as demand response, grid-forming inverters, and energy storage systems. The main contributions are summarized as follows: (1) This report introduces a PLC-based governor model for gas turbines. This model accurately simulates the dynamic behavior of conventional generation sources under various operational scenarios; (2) The model is integrated with an HIL testbed that includes a 2.5 MW variable speed drive and a 2 MVA synchronous machine. This setup enables realistic, real-time emulation of conventional power plants, particularly NG driven HRSGs and CTs; (3) The developed model is adaptable to various gas turbine configurations and allows for precise control over parameters such as MW ramp rates. This flexibility makes it a valuable tool for future research and industry collaboration; and (4) By incorporating the model into the National Renewable Energy Laboratory's Advanced Research on Integrated Energy Systems, the report lays the groundwork for future studies on interactions between conventional and renewable energy sources, enhancing the ability to develop advanced grid management strategies.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

Impact of the Exciter and Governor Parameters on Forced Oscillations

In recent years, the frequency of forced oscillation events due to control system malfunctions or improper parameter settings has increased. Tuning the parameters of exciters and governor models is crucial for maintaining power system stability. Traditional simulation studies typically involve small transient disturbances or step changes to find optimal parameter sets, but existing optimization algorithms often fall short in fine-tuning for forced oscillations. Identifying the sensitive parameters within these control models is essential for ensuring stability during large, sustained disturbances. This study focuses on identifying these critical exciter and governor model parameters by analyzing their influence on sustained forced oscillations. Using Kundur’s two-area system, we analyze common exciter models such as SCRX, ESST1A, and AC7B, along with governor models like GAST, HYGOV, and GGOV1, utilizing PSS®E software version 34. Sustained forced oscillations are injected at generator-1 of area-1, with individual parameter changes dynamically simulated. By considering a local oscillation frequency of 1.4 Hz and an inter-area oscillation mode of 0.25 Hz, we analyze the impact of each parameter change on the magnitude and frequency of forced oscillations as well as on active and reactive power outputs. This novel approach highlights the most influential parameters of each tested model—such as exciter, governor, and turbine gains, as well as time constant parameters—on the impact of forced oscillations. Based on our findings, the sensitive parameters of each tested model are ranked. These would provide valuable insights for industry operators to fine-tune control settings during oscillation events, ultimately enhancing system stability.

42 ENGINEERING↗
DOE OSTI2023

A Reference Governor for Plasma-Shape Control in Tokamaks

Tokamaks are torus-shaped devices where a high-temperature, ionized gas (i.e. a plasma) is confined by means of helical magnetic fields. The ultimate goal of tokamaks is producing net electrical energy by means of nuclear-fusion reactions within the plasma. The shape of the plasma inside the tokamak is closely related with its confinement characteristics and, therefore, with the produced fusion power. In order to achieve and maintain plasma shapes that maximize the fusion yield, feedback controllers have been successfully developed during the years. However, machine-protection and plasma-stability requirements impose hard constraints on the plasma-shape targets that can be safely achieved by a feedback controller. In this work, a reference governor is proposed to provide, in real time, plasma-shape targets that fulfill the aforementioned safety requirements. The reference governor calculates such plasma-shape targets in response to changes in the state of the closed-loop system, as well as disturbances in the plasma energy and current. Here, the reference-governor design is based on a dynamical model of the plasma electromagnetic response. Simulation tests of the reference governor have been carried out for different plasma scenarios in the DIII-D tokamak to emulate realistic cases where safety may be compromised.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS1986

The design of a turboshaft speed governor using modern control techniques

The objectives of this program were: to verify the model of off schedule compressor variable geometry in the T700 turboshaft engine nonlinear model; to evaluate the use of the pseudo-random binary noise (PRBN) technique for obtaining engine frequency response data; and to design a high performance power turbine speed governor using modern control methods. Reduction of T700 engine test data generated at NASA-Lewis indicated that the off schedule variable geometry effects were accurate as modeled. Analysis also showed that the PRBN technique combined with the maximum likelihood model identification method produced a Bode frequency response that was as accurate as the response obtained from standard sinewave testing methods. The frequency response verified the accuracy of linear models consisting of engine partial derivatives and used for design. A power turbine governor was designed using the Linear Quadratic Regulator (LQR) method of full state feedback control. A Kalman filter observer was used to estimate helicopter main rotor blade velocity. Compared to the baseline T700 power turbine speed governor, the LQR governor reduced droop up to 25 percent for a 490 shaft horsepower transient in 0.1 sec simulating a wind gust, and up to 85 percent for a 700 shaft horsepower transient in 0.5 sec simulating a large collective pitch angle transient.

Delosreyes, G.↗
DOE OSTI2026

Modeling and Power-Hardware-in-the-Loop Validation of Synchronous Machine Governor

This paper introduces the development of a high-fidelity gas turbine governor model using a programmable logic controller for power-hardware-in-the-loop (PHIL) validation. The governor model is integrated with the National Renewable Energy Laboratory's (NREL) PHIL test bed, featuring a 2-MVA synchronous machine and a 2.5-MW variable-speed drive, to emulate NG-driven HRSGs and CTs under various operational scenarios. The primary objective of this research is to study the grid-connected and islanding operations of conventional generation sources, with representative startup sequences including turbine purge, ignition, speed ramp-up, synchronization, and breaker closure. Preliminary results of the generator governor model on NREL PHIL platform, particularly using the 2.5-MW dynamometer system, offered significant insights into the modeling techniques, hardware integration, scaling, and real-world simulation dynamics.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2020

Learning reference governor for cycle-to-cycle combustion control with misfire avoidance in spark-ignition engines at high exhaust gas recirculation–diluted conditions

Cycle-to-cycle feedback control is employed to achieve optimal combustion phasing while maintaining high levels of exhaust gas recirculation by adjusting the spark advance and the exhaust gas recirculation valve position. The control development is based on a control-oriented model that captures the effects of throttle position, exhaust gas recirculation valve position, and spark timing on the combustion phasing. Under the assumption that in-cylinder pressure information is available, an adaptive extended Kalman filter approach is used to estimate the exhaust gas recirculation rate into the intake manifold based on combustion phasing measurements. The estimation algorithm is adaptive since the cycle-to-cycle combustion variability (output covariance) is not known a priori and changes with operating conditions. A linear quadratic regulator controller is designed to maintain optimal combustion phasing while maximizing exhaust gas recirculation levels during load transients coming from throttle tip-in and tip-out commands from the driver. During throttle tip-outs, however, a combination of a high exhaust gas recirculation rate and an overly advanced spark, product of the dynamic response of the system, generates a sequence of misfire events. In this work, an explicit reference governor is used as an add-on scheme to the closed-loop system in order to avoid the violation of the misfire limit. The reference governor is enhanced with model-free learning which enables it to avoid misfires after a learning phase. Experimental results are reported which illustrate the potential of the proposed control strategy for achieving an optimal combustion process during highly diluted conditions for improving fuel efficiency.

42 ENGINEERING↗
DOE OSTI2023

Ground Vehicle Generalized Forces and Moment Governor Design Via Noncertainty-Equivalent Adaptive Prescribed Performance Control

Torque-vectoring technology demonstrates great potential in improving the safety and performance of ground vehicles. In this paper, a novel generalized forces and moment governor for torque vectoring is suggested. The proposed solution strategically combines prescribed performance control, noncertainty equivalent adaptive control design, and a smooth projection operator. The main advantage of the proposed control strategy lies in its capability to guarantee both the transient performance and prompt recovery of the desired deterministic behavior of the closed-loop adaptive system, even in the presence of parametric uncertainties. ASM simulation results are presented to validate the efficacy of the proposed generalized forces and moment governor and to demonstrate its superiority over a baseline solution.

Zhou, Xingyu↗
DOE OSTI2021

Bulb-style Kaplan Turbine - Run-of-the-river (ror) Hydro Governor And Turbine Model

This software package includes hydro governor and turbine models developed in Simulink (Mathworks Inc.) and RSCAD (RTDS Technologies) for low-head bulb-style Kaplan turbine hydropower plants. The model developed in Simulink has been designed and tuned to match the governor-turbine response for a real-world hydropower unit owned by Idaho Falls Power (IFP). The Simulink and RSCAD models enable real-time testing in a hardware-in-the-loop (HIL) implementation using OPAL-RT and RTDS digital real-time simulators, respectively. An automatic initialization for dynamic simulation has also been integrated to each model in both Simulink and RSCAD. The RSCAD initialization involves a novel python-based interfacing for automatic modification of the initial conditions in the model. The parameters of these models can be tuned to match other hydropower plants in this class.

Alam, SMShafiul↗
DOE OSTI2026

Digital Twin-Enabled Adaptive Control for Hydroelectric Systems: Turbine Governor and Voltage Regulation

This paper presents a comprehensive digital twin (DT) framework for hydroelectric systems that enables adaptive control of turbine governors and excitation systems without requiring detailed manufacturer specifications. The proposed framework integrates neural network-based system identification with stabilizing adaptive control laws for the installed turbine controller and middle-branch adaptive tuning for the installed voltage regulator. Using real operational data from Unit C-8 at Rocky Reach Dam (1,349 MW capacity), highfidelity neural network models are developed to capture turbine and generator dynamics without requiring detailed manufacturer specifications. The DT enables safe controller synthesis and validation in simulation before deployment. For turbine control, the proposed method achieves a 79.9% mean square error (MSE) reduction compared with that of an optimal controller. For voltage regulation, the adaptive excitation controller achieves approximately 42.6% MSE reduction while preserving installed protection logic. The results demonstrate that DT technology provides a practical pathway for modernizing hydropower control systems with minimal operational disruption.

Gui, Yonghao [ORNL] (ORCID:0000000250435534)↗
DOE OSTI2026

Control Co-Design Framework for Joint Optimization of PID Governor and Hydraulic Dynamics for a Hydropower Plant

This paper presents a control co-design (CCD) framework tailored to the hydraulic and mechanical subsystems of hydropower systems, aimed at enhancing their dynamic performance and responsiveness to grid demands. Conventional sequential design approaches often fall short in capturing the coupled interactions between plant dynamics and control objectives. The proposed CCD methodology enables simultaneous optimization of key hydro plant parameters - such as governor settings, penstock characteristics, and valve control - with the control system architecture. Results indicate that both CCD and sequential design approaches achieve comparable transient and steady-state performance, with minor discrepancies arising from differences in their optimized parameters. However, CCD demonstrates a distinct advantage by tripling the water time constant (Tw) while maintaining similar dynamic performance to the sequential approach. This increase in Tw enables optimization of penstock dimensions, as it is directly influenced by penstock design, thereby contributing to overall cost optimization.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2022

Control system for multi-system coordination via a single reference governor

This report describes the improvements to the Feasible Actuator Range Modifier (FARM) component of the RAVEN-based HYBRID framework for analysis of Integrated Energy Systems (IES). FARM supports the HERON plug-in that solves the power dispatch problem. The solution involves economically optimal dispatches that satisfy the limits on production variables and corresponding rates of variation (explicit constraints) as well as the limits on the process variables tied to the service life of equipment (implicit constraints). The problem can be addressed as a two-stage process, i.e., HERON power dispatcher estimates a solution that meets explicit constraints (low-resolution physics), whereas FARM uses the simulation outcomes of HYBRID high-fidelity model to capture the system dynamic response and enforce implicit constraints (high-resolution physics). The initial version of the code (FARM-Alpha) was released by Argonne National Laboratory in January 2021 followed by FARM-Beta (January 2022) and FARM-Gamma (April 2022).

42 ENGINEERING↗
NASA NTRS2008

The Governor's Challenge: "Building a Stronger Virginia Today": Transportation Visions and Solutions

Using STM(Science, Technology, Engineering, Math) education, this emerging workforce will have the chance to creatively solve one of Virginia's biggest challenges: TRANSPORTATION. - Students will be asked to develop alternative transportation systems for the state. This competition will enable teams to work with business mentors to design creative solutions for regional gridlocks and develop other transportation systems to more easily and expediently reach all parts of the Commonwealth.

Baker, Susan↗
DOE OSTI2024

Hydropower Black Start: A Guidebook for Retrofitting Grid Dependent Hydropower

Not all United States (US) hydropower plants were designed to provide black start, but they are increasingly needed to uphold resilience in the evolving electric grid. This guidance is designed to help understand the minimal retrofits required for grid dependent hydropower (GDH) plants behind the point of interconnection (POI). For distribution connected hydropower plants or those with dedicated cranking paths, such upgrades can be sufficient for the plant to provide black start. For others, more coordination with the transmission system operator will be needed. This guidebook answers a number of questions relevant to retrofitting hydropower plants with black start capabilities. For example, the guidebook answers: • How flexible do the wicket gate controls need to be? • Who needs to do hydro governor model validation, why, and how? • How robust and flexible do the excitation and AVR controls need to be? • What protection settings need to be adjusted? • What relay(s) will need to be bypassed or overridden and at what risk? • What is the electrical energy demand of the station load or auxiliary power systems? • What should the strategy to energize transformer(s) along cranking path to address inrush currents be? • How should the critical load restoration be sequenced? In addition to outlining the specifications that hydropower plants need to meet for each component to be able to perform black start, this guidebook provides a set of case studies for specific upgrades needed at actual plants. Between the case studies of plants that have already performed black start retrofits and the examples of how this guidebook can be applied to scope future retrofits, five key themes have been identified for retrofit needs. 1. Protection needs “black start” mode: hydropower plants that are not designed with black start capabilities will have protections that prevent them from interconnecting to a “dead bus.” These protections will need to be overridden in every retrofit case and a separate black start mode should be established so that operators can safely switch between black start and grid connected modes, minimizing the risk to the plant. 2. Wicket gates need modern controls: digital governors accelerate the parameter tuning process and gate position sensors improve controllability, so plants with mechanical governors should be upgraded. Furthermore, a black start and islanding mode should be established for controls to maximize plant performance. 3. Robust excitation support: the DC system or excitation generator needs to be reliable enough to form and sustain the rotor electromagnetic field. These systems are typically undersized in plants that were not designed for black start, so they will need to be upgraded. 4. Turbine-governor model validation and operator training: validation of a standard hydro governor model is needed to characterize the dynamic response (i.e., inertial and primary frequency response) of the GDH. This is required for control development and old hydropower plants often have outdated or incorrect models. Operator training is also typically required to ensure the hardware retrofits are utilized correctly during the black start process. 5. Transformer and cranking path energization: any upgradation and control adjustment in front of the POI will depend upon the existing interconnection. Coordination with the transmission or distribution operator may be required.

13 HYDRO ENERGY↗
NASA NTRS1984

The application of LQR synthesis techniques to the turboshaft engine control problem

A power turbine governor was designed for a recent-technology turboshaft engine coupled to a modern, articulated rotor system using Linear Quadratic Regulator (LQR) and Kalman Filter (KF) techniques. A linear, state-space model of the engine and rotor system was derived for six engine power settings from flight idle to maximum continuous. An integrator was appended to the fuel flow input to reduce the steady-state governor error to zero. Feedback gains were calculated for the system states at each power setting using the LQR technique. The main rotor tip speed state is not measurable, so a Kalman Filter of the rotor was used to estimate this state. The crossover of the system was increased to 10 rad/s compared to 2 rad/sec for a current governor. Initial computer simulations with a nonlinear engine model indicate a significant decrease in power turbine speed variation with the LQR governor compared to a conventional governor.

Pfeil, W. H.↗
NASA NTRS1985

The application of LQR synthesis techniques to the turboshaft engine control problem

A power turbine governor was designed for a recent-technology turboshaft engine coupled to a modern, articulated rotor system using Linear Quadratic Regulator (LQR) and Kalman Filter (KF) techniques. A linear, state-space model of the engine and rotor system was derived for six engine power settings from flight idle to maximum continuous. An integrator was appended to the fuel flow input to reduce the steady-state governor error to zero. Feedback gains were calculated for the system states at each power setting using the LQR technique. The main rotor tip speed state is not measurable, so a Kalman Filter of the rotor was used to estimate this state. The crossover of the system was increased to 10 rad/s compared to 2 rad/sec for a current governor. Initial computer simulations with a nonlinear engine model indicate a significant decrease in power turbine speed variation with the LQR governor compared to a conventional governor.

Pfeil, W. H.↗