The advanced control of hydro-turbine governors is of great significance for the safe and stable operation of hydropower units and their interconnected power systems.In response to the defects such as the static error in the original linear quadratic control and the difficulty in handling non-zero state trajectory tracking,two augmented state variables,i.e.,speed error integral and its differential,are introduced into the differential equation model of the hydraulic turbine governing system to construct an augmented differential equation system model for the turbine regulation system.On this basis,a governor optimal control algorithm that containing the PID ideology by introducing integral and derivative(PID-LQR)is proposed.Numerical simulation shows that the proposed control algorithm has better comprehensive control performances than the traditional PID scheme under different operating conditions.Furthermore,the controller parameter setting is simple and insensitive to changes in operating conditions,thus to have better adaptability to operating conditions than the PID algorithm.
关键词
水轮机调节系统/最优控制/PID算法/增广状态
Key words
hydraulic turbine governing system/optimal control/PID algorithm/augmented system state
维普
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