长距离输水渠道节制闸调节系统控制特性研究

Study on control characteristics of sluice regulation systems for long distance canal

串联多渠池渠段在实际运行过程中的水位-流量并非一一对应关系，水位流量的多维对应和水力模型参数的不确定性作为渠道扰动存在，给在该模式运行下的渠道闸门控制带来了困难。文章从控制角度对渠道水力输移特性进行了探讨，分析了渠道扰动成因，将其归结为乘性和加性两类扰动。以节制闸紧急启闭造成的水位波动和渠道物理建模的不确定性为抑制目标，采用泰勒级数和基于泛函估计有限差分法对Saint-Venant方程进行逼近形成了有限维状态方程，在H∞范数意义下对模型进行求解。分析比较了PID控制器和基于H∞范数进行设计的鲁棒控制器的扰动抑制性能，并进行了算例仿真。结果表明基于节制闸启闭频率抑制的H∞控制器设计充分考虑到控制精度与模型误差抑制之间的关系，较传统PID控制具有更好的波动抑制能力。该研究和分析设计方法对自动化渠道闸门调节系统的合理设计选型有参考意义。

Multidimensional response of water flow and parameter perturbations lead to difficulty in the development of controller for sluices in conveyance channel. Perturbation analysis based on hydraulic transportation is studied, and a set including muhiplicative and additive perturbation is formed accordingly. In order to obtain a finitedimension model, Taylor series method is used together with functional approximation of the solution of Saint-Venant equations based on finite-difference. It is shown that such a model can be used to design a nonlinear controller by techniques of norm H∞ with the goal of maintaining relative equibalance water level along the open-channel reach. All parameter adaptive laws and robustifying control terms are derived based on perturbation analysis, so that under appropriate assumptions, the stability of the system is guaranteed. Compared with conventional PID controller, it can better avoid the qualitative spurious and unmodeled dynamics with the ability of reject disturbance. The study results may be available to reference for the design and selection of sluice regulation system.