Non-minimum-phase-controlled hydraulic turbine set rotation speed regulating system and design method thereof

Abstract

The invention discloses a design method for a non-minimum-phase-controlled hydraulic turbine set rotation speed regulating system. The design method comprises the following steps: SS1 establishing a nonlinear mathematical model of a hydraulic turbine set according to an inelastic water hammer equation of the hydraulic turbine set given by an IEEE (Institute of Electrical and Electronics Engineers); SS2 performing precise state feedback linearization on the nonlinear mathematical model to obtain a linearized standard system; SS3 verifying whether a controlled system is a non-minimum-phase system or not; SS4 resolving a nonlinear sub system of the standard system; SS5 establishing a common form of a system controller; SS6 determining to-be-determined parameters according to a pole assignment theory; SS7 determining to-be-determined parameters according to a Lyapunov stability theory; SS8 designing the hydraulic turbine set rotation speed regulating system by utilizing a DSP (digital signal processor) controller. According to the design method, adverse effects generated by nonlinear non-minimum-phase characteristics in a production process are overcome very well, and the system can be guaranteed to have good control effects within a relatively large operation range.

Description

technical field [0001] The invention relates to a non-minimum phase-controlled water turbine speed regulating system and a design method, belonging to the technical field of nonlinear control. Background technique [0002] As a typical non-minimum phase system, the traditional control method of hydro turbine is to adopt the linearization model of the system in the case of small fluctuations, and then adopt the PID control method, but this method has great limitations. When the system nonlinear characteristics When it becomes obvious, this approach will no longer work. [0003] The stable control method of non-small phase system has always been the focus of people's research, resulting in various control methods and strategies, among which the approximate linearization method and the differential geometry method are the two most commonly used methods. [0004] The basic idea of ​​approximate linearization is to replace the increment of the system with the total differential ...

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Problems solved by technology

For a non-minimum phase system (that is, a system with zero dynamic instability), it is difficult to ensure the stability of the internal zero dynamics of the system with a controller designed only for the linear subsystem that can make the external dynamics meet certain performance requirements, so the non-minimum phase characteristic Makes exact feedback linearization methods based on differential geometry extremely challenging

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