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Nonlinear dynamic analysis and robust controller design for Francis hydraulic turbine regulating system with a straight-tube surge tank

机译：带有直管式调压罐的弗朗西斯水轮机调节系统的非线性动力学分析和鲁棒控制器设计

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摘要

The safety and stability of hydraulic turbine regulating system (HTRS) in hydropower plants become increasingly important since the rapid development and the broad application of hydro energy technology. In this paper, a novel mathematical model of Francis hydraulic turbine regulating system with a straight-tube surge tank based on a few state-space equations is introduced to study the dynamic behaviors of the HTRS system, where the existence of possible unstable oscillations of this model is studied extensively and presented in the forms of the bifurcation diagram, time waveform plot, phase trajectories, and power spectrum. To eliminate these undesirable behaviors, a specified fuzzy sliding mode controller is designed. In this hybrid controller, the sliding mode control law makes full use of the proposed model to guarantee the robust control in the presence of system uncertainties, while the fuzzy system is applied to approximate the proper gains of the switching control in sliding mode technique to reduce the chattering effect, and particle swarm optimization is developed to search the optimal gains of the controller. Numerical simulations are presented to verify the effectiveness of the designed controller, and the results show that the performances of the nonlinear HTRS system assisted with the proposed controller is much better than that with the commonly used optimal PID controller.
机译：随着水能技术的飞速发展和广泛应用，水轮机调节系统（HTRS）的安全性和稳定性日益重要。本文介绍了一种基于几个状态空间方程的带有直管式调压罐的弗朗西斯水轮机调节系统的新型数学模型，以研究HTRS系统的动态行为，其中该系统可能存在不稳定的振荡对模型进行了广泛研究，并以分叉图，时间波形图，相位轨迹和功率谱的形式表示。为了消除这些不良行为，设计了一个指定的模糊滑模控制器。在这种混合控制器中，滑模控制法则充分利用所提出的模型来保证系统不确定性时的鲁棒控制，而在滑模技术中应用模糊系统来逼近开关控制的适当增益以减小开发了颤振效果，并开发了粒子群优化算法来搜索控制器的最佳增益。通过数值仿真验证了所设计控制器的有效性，结果表明，所提出的控制器辅助的非线性HTRS系统的性能要优于常用的最优PID控制器。

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