Research Of Sliding Mode Structure And Robust Control Strategy Of Hydraulic Turbine Regulation System Based On Uncertain Parameters Model

Turbine Regulating System is a complex control system with non-linear and non-minimum phase characteristics. In engineering practice, considering the changes in working conditions, external interference and flow inertia and other factors, it is difficult to establish a precise mathematical model of turbine regulation system. Due to the strong nonlinearity and complexity of the conditions of turbine regulation system, it makes it difficult to accurately describe the dynamic characteristics.By Taylor formula and Lagrange theorem of multivariate function, the nonlinear function of turbine was deduced mathematically, Uncertain parameters linear model was obtained to describe turbine characteristics. Combined with the establishment of the pressurized water through the system of second order elastic water hammer model, generator and load model and actuator model, uncertain parameters linear model was established of turbine regulation system based on state space, which laid the foundation for the study of sliding mode robust control of hydraulic turbine regulation system.For handling dynamic characteristics of linear uncertain parameter model of turbine regulating system, sliding mode control was a powerful design. But it required constant logical switching, which inevitably leads chattering. To solve this problem, the robust control theory was introduced. By constructing a control system output function and according to characteristics that uncertain parameters of turbine regulating system can be estimated, the upper bound function of system dynamic characteristics was constructed, thus the robust control strategy of sliding structure was studied. Based on the complex nonlinear simulation platform, by leveraging the sliding mode robust control, turbine load conditions and turbine no-load conditions of a hydropower station turbine were chose for simulation verification. The results showed that robust control strategies can well adapt to changes in working conditions and were easy to be applied. It was an effective way to solve complex nonlinear control problems of the hydraulic turbine regulation system. Developing sliding mode robust control of hydraulic turbine regulation system has important theoretical and engineering significance,which can solve the complex control problems of nonlinear turbine regulation system.