Study and Design of Self-Adaptive Pid-Fuzzy Control
on Multistage Steam Turbine Rotation Setting
Rusdhianto Effendie, Eka Iskandar, Mochammad Rameli, Irfan Syuhudi
Dept. Of Electrical Engineering
Sepuluh Nopember Institute of Technology
Surabaya, Indonesia
rusdhianto5758@gmail.com, iskandar@elect-eng.its.ac.id, rameli@ee.its.ac.id, irfan.elektro13@gmail.com
Abstract— The multistage steam turbine system is composed
of high pressure turbines, medium pressure, and low pressure.
The system response with turbine rotational speed has an
integrator tendency. When using the PID controller on closed
loop, the response has high overshoot, fast and no robust. In
order for the system to have one-order response characteristics
in the absence of overshoot, and robust capability, innovation of
rotational speed settings is made. Then the PID-Fuzzy self-
adaptive controller is designed. The PID-Fuzzy controller aims to
improve the responses to first order, in particular eliminating
overshoots, and improving the dynamic response using the
reference model. The self-adaptive controller functions to adapt
the controller parameters when the load changes. The existence
of the maximum load, nominal, and minimal and then varied
with the load up, down, and fluktuatif. The system response is
capable of returning to the 3000rpm setpoint, achieving a steady
99.3% time of 20-47.1 seconds, with RMSE values respectively
1,151%, 3,278%, and 4,058%.
Keywords— Steam Turbine Multistage, Self Adaptive, PID-Fuzzy,
Overshoot, Robust
I. INTRODUCTION
Steam turbine setting system is designed with technology
that can operate turbines safely and reliably. There are many
considerations to be taken when choosing a controller for
steam turbine applications. Starting from a mechanical control
system, electrical or controller programming.
There are two categories of steam turbine rotation speed
management as follows: security system (protection) and
process system. Turbine safety system aims to eliminate /
minimize the possibility of damage to the engine or hazard to
the operator, protect the turbine from over speeding, monitor
all parameters of the turbine critically, and observe the turbine
in case of conditions that may cause equipment damage. The
key safety element is the regulation of the steam fluid supply
valve. This turbine valve may be a separate on / off valve or
serves to regulate the opening of the valve by producing a
steam flow of heat used to regulate the rotational speed.
By focusing on steam turbine steam rotation to perform the
process, it is necessary to adjust the amount of steam that
enters the turbine rotary chamber. By relying on governors on
steam turbines that have two main parts; namely governor
control valves and steam valves.
PID controllers are generally optimized with intelligent
algorithms especially neural networks, genetic algorithms
(GA), ant collony and so on. Used a new type of fuzzy
adaptive PID controller on the system. The algorithm is
simulated in MATLAB to see the response obtained.
Comparison between PID and Self Adaptive PID-Fuzzy
controllers can be seen as recovery time to return to setpoint,
and RMSE value to assess robust level.
Multistage steam turbine system has a high order degree,
and the system has the nature of integrators and systems can be
said complex. Shows the system has strong turbine coupling,
large inertia, time change parameters and uncertainty. To get
better results can not use ordinary PID controller. Since PID
controllers can not take precautions, controls and requirements
reach the appropriate response speed. The Self-Adaptive PID-
fuzzy controller is an arrangement that uses a fuzzy controller
with a PID structure, then an adaptation of the controller
parameters for the system to have good robustness and the
system response has a small overshoot as well as a short
transition
II. BASIC THEORY
2.1 Multistage Team Turbine
The multistage steam turbine works on a larger power load,
as it consists of three turbine arrangements. The process of
energy changes in the steam turbine takes place through three
stages, namely thermal energy (heat rate) into mechanical
energy, then turbine rotation into electrical energy. The process
of change is illustrated in Figure 1.
Figure 1. Multistage Steam Turbine
The working principle of multistage steam turbine begins
with entering the steam flow rate of heat obtained from the
boiler. The flow of hot steam comes in twisting the turbine
gears into a turbine unit force. The units of turbines HP, MP,
and LP are coupled to a single axis which becomes the overall
torque. After the division of the power fraction and the time
constant parameters of each turbine. The overall torque of the
system is connected to the turbine load to produce turbine
rotational speed. The cycle runs continuously to form a closed
cycle. The multistage steam turbine is divided into 3 parts
turbine and 2 main valves:
1) High Pressure turbine ( ) pressure, where the vapor flow is the product of the valve area
2) Medium Pressure turbine ( ) with the turbine actuator.
3) Low Presure turbine ( ) Steam turbine steam rotation is carried out to keep the
4) High Pressure Valve (HPV)
5) Re-Heat Valve (RHV)
Each turbine unit consists of several major mechanical
components, ie
1) Power Shaft Turbin
2) Compressor
3) Combustion Chamber
4) Turbine teeth
2.2 Turbine Steam Multistage Configuration
In configuration with a given system, the steam turbine
consists of a High Pressure (HPV) valve, re-heater valve
(RHV), with High Pressure (HP), Medium Pressure (MP), and
Low Pressure (LP) flow. In each turbine-generator unit, the
speed / load setting function is obtained by adjusting the high
pressure valve opening (HPV). In addition to HPV it also
required a second valve to control the flow rate of heat vapor
extracted by HPV to the MP, LP and crossover pipe (CP). The
integration of the turbine is capable of adjusting and limiting
the rotational speed by involving the opening of the re-heat
valve (RHV). The re-heater stores excess steam so that HPV
controls are unable to limit excessive rotational speed.
Fast rotational speed control required involving HPV and
RHV control signals. Especially RHV is able to control about
60% to 80% [1] of the total power. Then the controller is able
to influence the opening of Re-heater Valve (RHV). Output
from the speed sensor compared to the speed to be achieved
(setpoint), resulting in error readings by speed control. Control
signals are used to drive the servomotor as an actuator to
regulate the steam flow rate of heat against HPV and RHV
openings.
Figure 2. Configuration of steam turbine with speed setting
The steam turbine setting is performed by the governor of
the result of the deviation or turbine rotation speed difference
with the setpoint. The governor is composed of mechanical
hydraulic and / or electrical hydraulic, which results from
reading changes in the speed of play on a computer. The
influence of valve openings is influenced by the heat vapor
turbine spin as per power requirement of 50Hz. When
converted to a ratio per minute (rpm), the turbine's rotational
speed should be kept at 3000rpm. If the rotational speed
exceeds the limit, it will cause a high overshoot which may
cause damage to the equipment.
2.3 PID Controller
PID controllers are one of the most widely used
controllers to improve system performance in the industry.
The simple PID controller structure is one of the factors that
the controller is interested in. The PID controller parameter is
the proportional strengthening of Kp, the integral time τi, and
the derivative time τd. The PID controller algorithm can be
explained in Equation (1) [2].
 de(t ) 
t
1
u (t )  K p  e(t )   e( )d   d 

(1)
  i 0 dt 
u(t) is a control signal and e(t) is an error signal. The
control signal from the controller is the sum of 3 actions
namely, proportional action (P), integral (l) and derivative (D).
PID controllers have a function to correct errors through
proportional action, eliminating errors in steady state through
integral action and anticipating future errors through
derivative action.
2.4 Tuning Rules of Ziegler-Nichols PID Controller
Ziegler-Nichols proposed a rule in determining the value
of PID controller parameters based on the characteristics of
the system response. Ziegler-Nichols has two methods in the
use of its tuning rules, the Open Loop method and the Close
Loop method [2]. In this study used Ziegler Nichols tuning
method Closed Loop.
2.5 Fuzzy Logic
Before the concept of Fuzzy logic was introduced, people
were familiar with a concept called classical logic that divides
the parameter properties into two opposite expressly, such as
true or false, 0 or 1. This concept proves to have deficiencies
in its application in real life, as humans know more linguistic
concepts that express something inappropriately or vaguely.
Fuzzy's concept of logic transforms the concept of
classical logic into a concept that maps a variable to improper
possibilities to linguistic systems and uncertain or imprecise
issues and probability problems.
III. SYSTEM DESCRIPTION
3.1 Modeling of the Entire System
In this research, we use setting method using fuzzy
controller, with evaluation and revision of input value
 ( ) ( ) ( ). By evaluating error value, delta error, and The model error structure consists of error, delta error, and
integral error, the system will get input control signal from the integral error. Described in the following picture:
feedback change. The regulatory case is a regulator, to
maintain turbine rotational speed.

Figure 7. Fuzzy Model Error Structure

Figure 3. Turbine Speed Rotation Turbine System Modeling

Here is the fuzzy set and rule base specified for performing
a fuzzy operation: [5]
3.2 PID Controller
Table 2. Basis of Fuzzy Rules
Linguistic Description Index

Negatif Besar (NB) 1

Negatif Kecil (NK) 2

Zero (Z) 3

Positif Kecil (PK) 4

Positif Besar (PB) 5

Figure 4. Block diagram of PID Controller on the system

The PID controller works in a closed loop system, in the

presence of Kp, Ti, and Td values. The PID controller also runs
simulation in MATLAB with automatic tuning of the three
parameters.
The best values of tuning Kp, Ti, and Td are automatically
obtained respectively 30,576, 0.332456, and 3.213778.

3.3 Design of PID-Fuzzy Controller

The design of the PID-fuzzy controller is performed to
obtain the turbine speed regulation method in the case of the
regulator. Here is a block diagram of PID-Fuzzy controller
design:

Figure 8. Partition Input and Output Variables

3.4 Design of Self-Adaptive PID-Fuzzy Controller

Figure 6. Fuzzy Control Block Diagram
To design the PID-Fuzzy self-adaptive controller is done
in the stages described earlier. Fuzzy Logic Controller (FLC)
which consists of fuzzification, determination of rules based,
inference rules, and defuzzification. The design is innovated
on the adaptation of the defuzzification process to revise the
Gain Ku and the C value as a normalized membership value.
With continuous error model readings to adapt changes to
errors, delta errors, and integral errors. Adaptation is done to
make the system more reliable when given a change of
loading, which changes the Gain Ku and the C-delta value.

Table 3. Variations Power loads, Load and Speed Relation

Beban Daya
Maximal Load (1000 MW) (1000/314)/unit
Nominal Load (750 MW) (750/314)/unit
Minimal Load (500MW) (500/314)/unit

4.3 Analysis of PID Controller System Response with

Fluctuating Load Variation

Figure 9. Design of Self-Adaptive PID-Fuzzy Controller Table 4. PID Response with Fluctuating Load Variation
Load ( ) ( )
Initialization is done by determining the value of Ku, delta Ku,
Maximal (1000MW)
indigo C and delta C. With the change every time is used
after discretization to adapt the change of error, delta Nominal (750MW)
error and integral error. If the gain revision Ku and the C Minimal (500MW)
value has been done, then get the new defuzzification value
( ) with the new and changes. After that
a new defuzzification with Center Of Gravity (COG)
calculation and new

IV. RESULTS
4.1 System Testing
In conducting system testing, it is necessary to know in
advance the relation between power changes P with rotational
speed and torque τ steam turbine torque. Due to the
variation of power load P that will be used is the inversion of
the load torque to the load speed of play. Here is a
Figure 9. Response System with PID Controller Variation of Fluctuating Load
mathematical equation:

The load increase is influenced by the power load P is

directly proportional to the turbine torque generated . But it is
inversely proportional to the turbine turn speed .

4.2 Relation of Load Variation with Torque Changes and

Rotation Speed
To perform variation of loading from steam turbine,
analyzed in the form of:
1. Steam turbine in keep rotation speed at 3000rpm
2. The steam turbine load is considered ideal (integrator)
3. Loosely charged is the torque load
Figure 10. Control Signals with PID Controls Variable Load Variations

The PID controller is designed with a step signal input that

Figure 11. System Load Installation Diagram
makes it overshoot at the start, with an increase of more than
4000rpm. Then the system response with the PID controller is
also unable to maintain the rotational speed when variations of
fluctuating load are given, evidenced by the absence of any
change in the control signal. Changes in control signals meant
that there was an adaptation process there. When given a
continuous burden of nominal load to the maximum, there will
be a decrease, otherwise when the discharge will increase
turbine rotation speed.
4.4 Analysis of PID-Fuzzy Control System Response with
Fluctuating Load Variation (Figure 11)
minimum is 500MW. Maximum load changes to a minimum
this is a big jump overshoot to 3776 rpm. But the system is
able to return the dynamic response to the set point of 3000
rpm with recovery time of 25.5 seconds. The said time is
sufficient to maintain turbine rotational speed. Then the value
of RMSE obtained is 0.04058 or 4.058%, has a good robust
level.

Figure 11. System Response with PID-Fuzzy Controller Variation of

Fluctuating Loads

The system response provided explains that the PID-

Fuzzy controller is also unable to adapt when given load Figure 13. Control Signals with Self-Adaptive PID-Fuzzy Controller Variable
variations. Fuzzy rules ranging from membership functions,
Load Variable
rule based, and inference are not capable of adaptation to
maintain turbine rotary speed at 3000rpm. Evidenced by
control signals that do not change, need adaptation on gain Ku 4.6 Response of Self-Adaptive PID-Fuzzy Control System
and value C. Response system is able to return to 3000rpm at with Load Up Variation
300 second because load given happened looping back at that
Table 6. Self-Adaptive PID-Fuzzy Response with Load Rise Variation
time. The condition can be solved with Self-Adaptive
Load ( ) ( ) RMSE
controller.
4.5 Self-Adaptive PID-Fuzzy Control System Response with Maximal
Fluctuating Load Variation (Figures 12 & 13) (1000MW)
0.01151/
Nominal
Table 5. Self-Adaptive PID-Fuzzy Response with Fluctuating Load Variation 1.151%
(750MW)
Load ( ) ( ) RMSE Minimal
Maximal (500MW)
(1000MW)
0.04058/
Nominal
4.058%
(750MW)
Minimal
(500MW)

Figure 14. Response System with Self-Adaptive PID-Fuzzy Control Variable

Load Up

Figure 12. Response System with Self-Adaptive PID-Fuzzy Control Variable

Load Variable

The response of the system when given the change of

loading is able to adapt to the change. With variations in
fluctuating loads, the load starts with a nominal loading of
500MW, after which a maximum loading of 1000MW. After
two initial loads, a reduction of load from maximum to Figure 15. Control Signals with Self-Adaptive PID-Fuzzy Controller Upload
Load Variations
4.7 Response of Fuzzy Self-Adaptive PID Controller with
Variation of Load Down
Tabel 7. Self-Adaptive PID-Fuzzy Response with Variation of Load Down
Load ( ) ( ) RMSE
Maximal (1000MW)
0.03278/
Nominal (750MW) 3.278%
Minimal (500MW)
Figure 16. Response System with Self-Adaptive PID-Fuzzy Controls
Variation of Load Down
Figure 17. Control Signals with Self-Adaptive PID-Fuzzy Controls Variation
of Load Down
4.8 Analysis of System Response with Self-Adaptive PID-
Fuzzy Controller
Analysis of system test results with self-adaptive PID-
Fuzzy controller, described in three test of load variation, that
is fluctuating load, rising load, and down load. The RMSE
values are 4,058%, 1,151%, and 3,278%, respectively, and the
system response is in accordance with the work specification,
reaching a steady state of 99.3% at 120 seconds in the absence
of overshoot.
At fluctuating loads it is of particular concern when the
load is increased twice and discharges once. Where when the
load is given from the nominal load to the maximum there is a
change in the system response. The system response is so
reliable when handling load expansion, but there is a jump in
rotation speed when load is released. Because the multistage
steam turbine system is not capable of performing magnetic
braking and is unable to reverse the flow of steam to reduce
the instantaneous speed of load release.
Then with the load up and down, there is a noticeable
difference in the response obtained. In response the system
with rising load is able to handle the gradual increase of load
from minimal load to nominal load, and to maximum load.
But unlike the decrease or discharge of loads, there is a very
high jump speed with long recovery time. But for the second
load reduction can be handled properly by the system.
Indicates a multistage steam turbine system needs
improvement in the event of a loose load, in particular the
addition of a magnetic brake component.
I. CONCLUSSION
Based on the results of testing and analysis can be
obtained conclusion as follows:
1. Self Adaptive PID-Fuzzy controller design is able to keep
turbine turn speed at 3000 rpm setpoint with load changes
of 1000MW, 750MW and 500MW without overshoot
during initial generation.
2. Self Adaptive PID-Fuzzy controller capable of reducing
interference and has a good level of robustness. RMSE,
respectively, of variations in rising, falling, and
fluctuating loads are 1.151%, 3.278%, and 4.058%
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