水轮机调节系统的动态滑模控制

Dynamic Sliding Mode Control of Hydraulic Turbine Governing System

针对水轮机调节系统在滑模控制中的抖振问题,研究基于滑模控制方法设计了水轮机调节系统的动态滑模控制器。首先建立了考虑超长引水隧洞的水轮机调节系统的数学模型,并设计了动态滑模控制器;然后通过粒子群和灰狼混合优化算法(PSOGWO)对设计的控制器参数进行了优化;最后采用设计的动态滑模控制器对水轮机调节系统进行了正弦和阶跃的轨迹追踪试验,用于评估不同控制器的优越性和有效性。仿真结果表明,设计的动态滑模控制器不仅提高了水轮机调节系统的控制性能并减少了轨迹追踪的收敛时间,而且能够显著减小滑模控制的抖振效应和轨迹追踪的误差。

In this study, the dynamic sliding mode controller of hydraulic turbine governing system is designed based on the sliding mode control method to address the chattering problem of hydraulic turbine governing system in sliding mode control. Firstly, a mathematical model of hydraulic turbine governing system considering a super long headrace tunnel is established and the dynamic sliding mode controller is designed. Then, the controller parameters are optimized by a hybrid optimization algorithm of particle swarm optimization and gray wolf optimization(PSOGWO). Finally, the dynamic sliding mode controller is adopted for trajectory tracking experiments of hydraulic turbine governing system with sinusoidal and step signals which are used to evaluate the superiority and effectiveness of different controllers. The simulation results indicate that the designed dynamic sliding mode controller not only improves the control performance of the hydraulic turbine governing system and the convergence time of trajectory tracking, but also can significantly reduce the chattering effect of sliding mode control and the error of trajectory tracking.