非线性水轮机调节系统的鲁棒预测控制

Robust Predictive Control of a Nonlinear Hydropower System Model

随着“双碳”目标进程的加快,水电机组向高水头、大容量和长输水管道方向发展,对调节系统控制品质提出了更高要求。考虑水轮机调节系统是一个集水力、机械、电气为一体的非线性系统,而传统水轮机调节系统的PID控制方法为线性或线性化控制,因此研究水轮机调节系统新的先进性控制方法对提高机组运行质量具有重要意义。为此,本文采用鲁棒预测控制理论,设计了基于LMI鲁棒预测控制器,并通过理论分析证明了该方法的可靠性,通过数值试验验证新控制方法的控制效果,进一步讨论了该控制方法的抗干扰能力、跟踪性能等控制品质,并与传统PID控制方法作对比,分析了两种控制方法的优劣,结果表明提出的新控制方法提高了六维非线性水轮机调节系统的速动性和稳定性,具有良好的控制品质。

With the acceleration of the‘double carbon’target process,hydropower units are developing towards high head,large capacity and long water pipeline,which puts forward higher demands for the control quality of governing system.Considering that the hydro-turbine governing system is a nonlinear system integrating hydraulic,mechanical and electrical,However the traditional PID control method is linear control,therefore it has great significance to study a new advanced control method of the hydroturbine governing system to improve the quality of unit operation.In this paper,the robust predictive control theory is used to design a robust predictive controller based on LMI,and the reliability of the method is proved by theoretical analysis,the control effect of the new control method is verified by numerical experiments.The anti-interference ability and tracking performance of the control method are further discussed.Compared with the traditional PID control method,the advantages and disadvantages of the two control methods are analyzed.The results show that the new control method improves the speed and stability of the sixdimensional nonlinear hydraulic turbine regulation system in this paper,and enjoys excellent control quality.