水轮机调节系统的自耦PID控制方法  

Auto-coupling PID control method for hydraulic turbine regulation system

作　　者：黄利容 曾喆昭[1] 曾鹏 HUANG Lirong;ZENG Zhezhao;ZENG Peng(School of Electric and Engineering,Changsha University of Science and Technology,Changsha 410076,China)

机构地区：[1]长沙理工大学电气与信息工程学院,长沙410076

出　　处：《水力发电学报》2023年第8期80-88,共9页Journal of Hydroelectric Engineering

基　　金：国家自然科学基金(61040049);湖南省教育厅重点项目(21A0183);长沙理工大学研究生科研创新项目(CXCLY2022085)。

摘　　要：针对含死区环节和机械时滞的水轮机调节系统,研究了一种基于自耦PID控制理论的控制方法。首先,将带死区环节的时滞水轮机调节系统中时滞、死区非线性因素、不确定性以及外部扰动定义为总扰动,再通过引入虚拟控制量,将其等价映射为一个外环二阶线性扰动系统与一个内环一阶线性扰动系统的双闭环系统;其次,针对外环设计基于速度因子的自耦PD控制器,内环设计基于速度因子的自耦PI控制器;最后,在复频域分析了闭环控制系统的鲁棒稳定性和抗扰动鲁棒性。仿真结果表明,所设计的控制器在不同工况下控制效果不仅具有良好的抗扰动鲁棒性,而且具有良好的动态品质和稳态性能。To improve the hydraulic turbine regulation system with dead zones and mechanical delay,a control method based on the auto-coupling PID control theory is studied.First,we examine a delay turbine regulation system with dead-time links which delay,dead-time nonlinear factors,uncertainties and external disturbances are defined as the total disturbances;by introducing virtual controls,it is equally mapped to a double closed-loop system with an outer loop second-order linear disturbance system and an inner loop first-order linear disturbance system.Then,using the speed factor,we design an auto-coupling PD controller for the outer ring and an auto-coupling PI controller for the inner ring.Finally,the robust stability and anti-disturbance robustness of the closed-loop control system are analyzed in the complex frequency domain.The simulation results show that under different working conditions,the designed controllers gain better anti-disturbance robustness,and their dynamic quality and steady-state performance are improved significantly.

关 键 词：水轮机调节系统 时滞系统 非线性死区 自耦PID控制 虚拟控制器 

分 类 号：TV734[水利工程—水利水电工程]