Low-gain feedback control method for urban riverway water level

A feedback control and low-gain technology, applied in the field of automatic control, can solve the problems of large discharge of domestic sewage, less consideration of actuator saturation, uncertainty of model parameters, and inability to timely and effectively control the water level of the river, etc., to achieve effective control Effect

Active Publication Date: 2019-08-09
HANGZHOU DIANZI UNIV
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Problems solved by technology

[0004] Most of the existing river water level control methods adopt simple feedback control methods, and these control methods rarely consider the influence of actuator saturation, model parameter uncertainty and external disturbance on river water level control
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  • Low-gain feedback control method for urban riverway water level
  • Low-gain feedback control method for urban riverway water level
  • Low-gain feedback control method for urban riverway water level

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Embodiment Construction

[0056] A low-gain feedback control method for urban river water levels, specifically comprising:

[0057] Step 1. Establish the state space model of the river water level system:

[0058] Based on the principle of hydraulics, the switching system model is established as follows:

[0059]

[0060] in, Indicates the flow state vector of the river channel at time t, Represents an n-dimensional column vector; Indicates the controlled output vector of the river water level system at time t, symbol Represents Euclidean space. x(t)=[x 1 (t), x 2 (t), x 3 (t)] T , x 1 (t), x 2 (t) and x 3 (t) represent the water flow velocity value, water level height value and water pressure value at time t, respectively, and the superscript T represents the transposition of the matrix. Indicates the control input at time t, that is, the valve opening value of the drain valve, and sat( ) is a saturation function, indicating that the valve opening is limited. σ(t) represents the s...

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Abstract

The invention discloses a low-gain feedback control method for urban riverway water level. At present, the existing domestic riverway water level control methods rarely consider the effects of actuator saturation, model parameter uncertainty and external disturbance on riverway water level control, so that the riverway water level can not be controlled timely and effectively and thus waterloggingoccurs occasionally in city. The method comprises: establishing a riverway water level system state space model; designing an ellipsoid set; designing a low-gain feedback controller; establishing a closed-loop system state space model; designing an average dwell time switching law; analyzing stability of the closed-loop system; analyzing H infinity performances of the closed-loop system; and calculating the gain of the low-gain feedback controller. According to the invention, on the basis of the low gain feedback technology and switching system control theory, effective controlling of the lowwater level, intermediate water level, and high water level is realized. And an accurate riverway water level control system model is established to control the riverway water level timey and effectively.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and relates to a low-gain feedback control method for urban river water levels. The low-gain control method for switching systems realizes effective control of urban river water levels and can be used in modern urban drainage industries. Background technique [0002] The urban drainage system is an urban infrastructure system that collects, transmits, treats and discharges urban sewage and rain (snow) water. It is composed of urban sewage drainage system, industrial wastewater drainage system and urban rain (snow) water drainage system. The amount of sewage discharged in modern cities is huge. Whether the urban drainage system can treat and remove sewage and rain (snow) water in a timely and effective manner has a vital impact on the normal life, safe production and urban development of urban residents. [0003] Rivers and lakes are an important part of modern urban drainage systems, wh...

Claims

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Application Information

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IPC IPC(8): G05D9/12
CPCG05D9/12
Inventor 周修阳陈云王茜薛安克
Owner HANGZHOU DIANZI UNIV
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