Pelton turbine: Impulse turbine, used for high water heads

Kaplan turbine: Reaction turbine, used for low water heads

Francis turbine: Reaction turbine, used for medium water heads.
Therefore, for harnessing low variable water heads, the suitable hydraulic turbi
ne with reaction and adjustable vanes runners is Kaplan turbine
Error equation E(s) = R(s)/(1 + G(s) H(s) )
Applying final value theorem,
Steady state error = Lts?0 S E(s)
Steady state error for different types and different inputs as follows;
Type
put

Step input

1. Type 0 ----e
2. Type 1 ----nite
3. Type 3 ----/K
1.
2.
3.
4.

For
For
For
For

A/(1+K)

Ramp input
infinite

Zero

A/K

Zero

Zero

parabolic in
infinit
infi
A

over damped system, the roots are real and unequal.

under damped system, the roots are complex and conjugate.
critically damped system, the roots are real and equal.
un damped system, the roots are imaginary.

The electrical equivalents of the mechanical elements is known as analogous syst

em.
The following shows the analogous quantities in Force-Voltage analogy
Mechanical element ----------- Electrical analogous element
1. Mass element (M) ---------- Inductance (L)
2. Spring element (K) --------- Inverse capacitance (1/C)
3. Damper
-------------- Resistance (R)
4. Velocity (v) ----------------- Current (i)
5. Displacement (x) ----------- Charge (q)
6. Force (f) --------------------- Voltage (V)
The runner blade in Kaplan turbine is less than other water turbine. It is in or
der of 3 to 6.
The runner blade of Francis turbine is order 16 to 24.
Poles and Zeros of Transfer Function
Generally a function can be represented to its polynomial form. For example,
Now similarly transfer function of a control system can also be represented as
Where, K is known as gain factor of the transfer function.
Now in the above function if s = z1, or s = z2, or s = z3,....s = zn,the value o
f transfer function becomes zero. These z1, z2, z3,....zn, are roots of the nume
rator polynomial. As for these roots the numerator polynomial, the transfer func
tion becomes zero, these roots are called zeros of the transfer function.
Now, if s = p1, or s = p2, or s = p3,....s = pm, the value of transfer function
becomes infinite. Thus the roots of denominator are called the poles of the func
tion.
Now let us rewrite the transfer function in its polynomial form.
Now, let us consider s approaches to infinity as the roots are all finite number

, they can be ignored compared to the infinite s. Therefore

Hence, when s ? 8 and n > m, the function will have also value of infinity, that
means the transfer function has poles at infinite s, and the multiplicity or or
der of such pole is n - m.
Again, when s ? 8 and n < m, the transfer function will have value of zero that
means the transfer function has zeros at infinite s, and the multiplicity or ord
er of such zeros is m - n.