基于浸入与不变原理的水轮机调节系统簇发振荡控制

Control of hydraulic turbine governing system bursting oscillationbased on the immersion and invariance principle

针对水轮机调节系统簇发振荡的抑制问题,提出一种基于浸入与不变(immersion and invariance, I&I)原理的自适应反步滑模控制策略。首先,建立两时间尺度下的水轮机调节系统动力学模型,并分析系统的簇发振荡行为;其次,结合反步理论和基于趋近律的滑模原理设计控制器,同时,对水轮机调节系统在运行过程受到的外部扰动,引入I&I理论对扰动估计误差建立流形,通过自适应律的选取保持其吸引与不变,并采用Lyapunov稳定性理论对所提控制方法进行收敛性证明;最后,对上述控制策略进行仿真验证。结果表明,该方法能有效抑制系统的簇发振荡现象,且具有较好的扰动跟踪精度。

An adaptive backstepping sliding mode control strategy based on the immersion and invariance(I&I)principle was proposed to suppress the bursting oscillation of a hydraulic turbine governing system.Firstly,the dynamic model of the hydraulic turbine governing system with twice scales was established,and the bursting oscillation behavior of the system was analyzed.Secondly,the controller was designed by combining the backstepping theory and the sliding mode principle based on the approaching law.At the same time,the I&I theory was introduced to establish the manifold of disturbance estimation error for the external disturbance of the hydraulic turbine governing system in the operation process,and its attraction and invariance were maintained through the selection of the adaptive law.The convergence of the proposed control method was proved by using the Lyapunov stability theory.Finally,simulation results of the above control strategy show that the method can effectively suppress the system bursting oscillation and has good disturbance tracking accuracy.