Research On Robust Optimization Control Of Hydro Turbine Governing System Based On Uncertain Singular Time-delay Model

Incorporating waterpower, machinery and electricity as a whole, turbine regulating system is a complex control system with delay and strong non-linear characteristics. Because of ignoring the nonlinearity of turbine and delay feature of pressure water diversion pipeline, linear control strategies derived based on linear time-invariant model inevitably face control quality deteriorating and system stability problems.Aiming at turbine regulating system's strong nonlinearity and delay feature, the nonlinear singular time-delay model of turbine regulating system that can reveal its essential characteristics is established through establishing the mathematical model of water turbine, pressure water diversion pipe, generators and load, actuators, respectively. On that basis, turbine regulating system's linear uncertain singular time-delay model is obtained by mathematical transformation, thereby transforming the nonlinear problem of control object as a system parameter perturbation problem and laying a foundation for the research of robust control of water turbine regulation system.On the basis of constructing the linear uncertain singular time-delay model of augmented turbine regulating system, delay-dependent robust stabilization controller is designed by using robust control theory. The controller not only greatly reduces the accuracy requirement of the turbine regulating system model, but also can make the system has good robustness. Aiming at the problem that robust stabilization controller is difficult to obtain satisfactory dynamic performances; robust optimization control based on uncertain singular time-delay model is studied through comprehensive application of robust control and optimization theory. The robust optimization control uses robust stability of turbine regulating system as the optimization space of controller parameters and ITAE indicator of speed deviation as the fitness function. Robust stabilization controller only requires the control parameters can make the system robust stability, without considering its dynamic performance; however, robust optimization controller obtains a set of parameters which can enable the system under better dynamic performance through optimizing controller parameters within the scope that can make the system robust stability. So, robust optimization controller improves the system's dynamic performance under the condition of robust stability.On the basis of building turbine characteristic space curved surface with B-spline theory, nonlinear delay simulation model of water turbine regulation system is established. On the basis of that, transition process numerical method of turbine regulating system is studied. The performance of robust optimization controller based on uncertain singular time-delay model is verified through a unit's transient calculation experiments of different conditions.