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Urban river water level time-varying controller design method based on sliding mode control

A design method and controller technology, applied in liquid level control, non-electric variable control, control/regulation systems, etc., can solve problems such as difficult urban river water level control.

Active Publication Date: 2021-06-25
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the existing control methods of urban river water level control systems rarely consider actuator saturation, system model uncertainty and external disturbances at the same time, and it is difficult to achieve rapid and effective control of urban river water level

Method used

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  • Urban river water level time-varying controller design method based on sliding mode control
  • Urban river water level time-varying controller design method based on sliding mode control
  • Urban river water level time-varying controller design method based on sliding mode control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0047] Step 1. Establish a state-space model of the urban river water level system

[0048] Build a system state space model

[0049]

[0050] Among them, x represents the river flow state vector, x=[x 1 x 2 x 3 ] T , where x 1 Indicates the river water velocity value, x 2 Indicates the height of the river water level, x 3 Represents the water pressure value of the river, and T represents the transposition of the matrix. y represents the control output vector of the river water level. σ(t) represents the switching signal, from the set Take the middle value, where σ(t)=1 means that subsystem 1 is activated and the water level of the river is controlled at a higher level; σ(t)=2 means that subsystem 2 is activated and the water level of the river is controlled at a lower level. u represents the gate opening value and the river gate opening value is limited, sat( ) represents the saturation function, defined as follows

[0051] sat(u)=[sat(u 1 ) sat(u 2 ) … sat(u ...

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Abstract

The invention discloses an urban river water level time-varying controller design method based on sliding mode control. The method comprises the steps of establishing a state space model of an urban river water level system, designing a dynamic compensator and a sliding mode surface, and designing a time-varying controller and average residence time. Based on the design of a switching system, sliding mode control and a time-varying controller, an urban river water level time-varying controller is designed in consideration of actuator saturation, parameter uncertainty and external interference of the system, and the dynamic performance of the urban river water level control system is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of urban river channel control and designs a time-varying controller to realize the effective control of the urban river channel water level system and improve the dynamic performance of the system. By designing a time-varying controller based on sliding mode control, the control objective of improving the dynamic performance of the urban river water level control system with actuator saturation, system uncertainty and external disturbance is achieved, which is suitable for the control of urban river water level. Background technique [0002] The urban drainage system undertakes multiple tasks such as collection, transportation, discharge and treatment of urban sewage, and is a very important part of urban engineering for a city. Only by properly treating urban sewage can the requirements of environmental protection be met, which is crucial to the livelihood of the entire city and the development of industry...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D9/12
CPCG05D9/12
Inventor 王茜林庆霞
Owner HANGZHOU DIANZI UNIV
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