Sliding mode-based hydro turbine governing system dead zone nonlinear compensation method
A technology of nonlinear compensation and speed regulation system, which is applied in the direction of control/regulation system, general control system, mechanical equipment, etc., can solve the problems that the stability of the speed regulation system of water turbine cannot be guaranteed, and achieve strong real-time performance, omit identification, improve The effect of economic performance
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[0143] The example is as follows:
[0144] The structure diagram of the hydropower system is as follows figure 1 Shown. By measuring and consulting the equipment manual, the parameter of a hydroelectric generating set adopting a mixed-flow generating set under a certain working condition is e x = -1.00, e y =1.00, e h = 1.50, e qx =0.00, e qy =1.00, e qh =0.50, e g = 0.21, T y = 0.50, T a =8.11, T w = 1.22. According to engineering experience and understanding of the controlled system, take K by trial and error E = 0.20. Further through model conversion, the matrix A and matrix B in the state equation of the system can be obtained respectively:
[0145] A = - 0.026 0.123 0 0 0 - 1.639 5.639 4.000 0 0 - 2.000 - 2.000 0.200 0 0 0 ; B = 0 - 4 2 0
[0146] Take the expected pole in Ackermann's formula as λ 1 =-1, λ 2 =-4+4i, λ 3 =-4-4i, the sliding mode plane coefficient c can be obtained as [188.965 10.221 20....
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