摘要
针对常规鲁棒性评估方法不能定量给出评估结果的问题,提出了一种基于概率鲁棒方法的控制律鲁棒性定量评估方法。首先确定水轮机调速系统的数学模型和控制策略,并确定参数的摄动范围、置信水平等;然后对系统进行蒙特卡洛仿真,得到阶跃响应曲线簇并绘制性能指标的累计频率曲线;最后计算性能指标的可接受概率、样本均值等统计量,实现鲁棒性的定量评估。以紧水滩水力发电厂水轮机调速系统为研究对象,分别设计了基于PID和模糊内模的调速系统控制器,并用上述方法对两种控制器的鲁棒性进行评估。结果表明,模糊内模控制器的鲁棒性更优,与概率鲁棒的鲁棒性评估结果一致,验证了概率鲁棒对控制律鲁棒性定量评估的有效性。
To solve the problem for conventional robustness assessment methods not being able to give quantitative evaluation results,a robust quantitative evaluation method of control law based on probabilistic robust method was proposed.Firstly the mathematical model and control strategy of the turbine governing system,as well as the perturbation range and confidence level of the parameters,were determined..Then,Monte Carlo simulation on the system was performed to obtain the step response curve cluster and plot the cumulative frequency curves of the performance index.Lastly,the acceptable probability of the performance indicator,the sample mean and other statistics were calculated to achieve a quantitative assessment of robustness.The hydraulic turbine governing system of Jinshuitan Hydropower Plant was taken as the research object,and the PID and fuzzy internal model controller were designed respectively.The robustness of the two controllers was evaluated by method the above.The simulation results show that the robustness of the fuzzy internal model controller is relatively better,which is consistent with the robustness evaluation based on the probabilistic robust method.The effectiveness of the probabilistic robust method for the robust evaluation of the control law robustness is verified.
作者
刘长良
曹威
王梓齐
LIU Chang-liang;CAO Wei;WANG Zi-qi(State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources,North China Electric Power University,Beijing 102206,China;School of Control and Computer Engineering,North China Electric Power University,Baoding 071003,China)
出处
《科学技术与工程》
北大核心
2020年第4期1430-1435,共6页
Science Technology and Engineering
基金
北京市自然科学基金(4182061)
中央高校基本科研业务费专项(2016MS143,2018ZD05)。
关键词
概率鲁棒
鲁棒性评估
水轮机调速系统
模糊内模控制
probabilistic robustness
robustness estimation
hydraulic turbine governor system
fuzzy internal model control
