多渠段渠道自动控制系统的稳定控制

Performance analysis and stability control for multireach canals

为消除在实际运行过程中的模型失配和水力参数(糙率、流量系数等)的不确定性所造成的影响,完成了串联多渠池渠段自适应控制器的设计和测试。利用基于状态空间模型的频率设计方法对模型和外界扰动的不确定性进行量化,采用部分极点配置原则以解决系统临界稳定意义下的病态问题。分析了渠道运行控制特性,提出了性能权函数、鲁棒权函数的选择方法。算法的有效性在多渠池算例上得到了验证。动态仿真结果表明:给定节制闸开度和水力参数变化,各渠段节制闸附近水位波动可以得到很好的抑制,系统跟踪精度高,鲁棒性能良好。

This paper presents a robust adaptive control method to eliminate the effects of model mismatch and parameter perturbations （rough flow rate estimates, discharge coefficients, etc. ） in reach canals. The nonlinear relationships were adjusted based on an analysis of the system state space. A performance Weighted function was used to approximate the uncertainty of the nonlinear dynamic system with a robustness weighted function used to compensate for water level errors. Partial pole assignment was used to alleviate the ill-posed matter of the critical stability equations. The simulations show that the controller ,especially for harsh working condition, has quick response, good tracking performance and good robustness to reject water level disturbances.