Intelligent PLC-Based Retrofit of a Kaplan Turbine Speed Governor: Industrial Automation, Hydraulic Hunting Suppression and FAT/SAT Validation

Abstract

The modernization of legacy industrial machines is a major challenge in intelligent automation, particularly when critical assets must be upgraded without replacing high-value mechanical and hydraulic infrastructure. This paper presents an industrial case study on the intelligent PLC-based retrofit of an obsolete Neyrpic Digipid speed governor installed in a Kaplan turbine. The proposed solution replaces a closed, vendor-dependent controller with an open Siemens ET 200SP architecture programmed in TIA Portal, integrating existing sensors, hydraulic actuators, redundant speed acquisition, sequential state-machine control, and a digital distributor–runner blade Cam Curve. A key technical contribution is the diagnosis and mitigation of hydraulic hunting in the distributor position loop. The instability was traced to the interaction between integral control action and the intrinsic integrating behavior of the hydraulic actuator, leading to the adoption of a proportional-only position tracking strategy. The system was validated through Factory Acceptance Tests (FATs) and Site Acceptance Tests (SATs), including signal verification, startup, synchronization, load acceptance and emergency load rejection. Quantitative results demonstrate that during initial commissioning of the new PLC-based PI position loop, the LVDT position error reached 41.59% peak-to-peak, with 351.2 servo-valve reversals per minute. Disabling the integral action reduced the peak-to-peak position error to below 1.5% and eliminated steady-state valve reversals under the tested operating conditions. Separately, the historical 0.966 V oscillation detected in the legacy analog-input chain was resolved during the retrofit. During no-load startup, the unit reached 97% of nominal speed in 49.4 s, with a maximum overshoot of 2.3% and a speed tracking standard deviation of 1.1%. The complete operational cycle was successfully validated under real industrial conditions, including a near-nominal load-rejection test (approximately 2.25 MW), during which the measured speed peaked at 126.4% of nominal speed and the shutdown sequence was completed without protection-system malfunction. The results show that open PLC-based retrofits can improve maintainability, diagnostics and operational reliability in safety-critical industrial machines, while establishing a foundation for future SCADA integration and condition-based maintenance.