Design of a Nonlinear Model Predictive Controller for a Hydro-turbine Governing System

Wenjun ZHOU

doi:10.12096/j.2096-4528.pgt.19097

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Design of a Nonlinear Model Predictive Controller for a Hydro-turbine Governing System

Power Generation and Environmental Protection | 更新时间：2025-06-06

- Design of a Nonlinear Model Predictive Controller for a Hydro-turbine Governing System
- Power Generation Technology Vol. 41, Issue 4, Pages: 407-414(2020)
- 作者机构：
  
  国电大渡河流域水电开发有限公司龚嘴水力发电总厂, 四川省乐山市 614900
- 作者简介：
- 基金信息：
- DOI：10.12096/j.2096-4528.pgt.19097
  CLC： TK73
- Received：13 June 2019，
  
  Published：2020-08
- 稿件说明：
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Wenjun ZHOU. Design of a Nonlinear Model Predictive Controller for a Hydro-turbine Governing System[J]. Power Generation Technology, 2020, 41(4): 407-414.
DOI：

Wenjun ZHOU. Design of a Nonlinear Model Predictive Controller for a Hydro-turbine Governing System[J]. Power Generation Technology, 2020, 41(4): 407-414. DOI： 10.12096/j.2096-4528.pgt.19097.

摘要

基于麦克劳林展开公式，对水轮机调节系统（hydro-turbine governing system，HTGS）中的非线性项进行近似处理，引入Takagi-Sugeno（TS）模糊控制处理麦克劳林展开式中的非线性项，建立水轮机调节系统的TS模糊模型。基于TS模糊模型以及所定义的目标函数，设计了一种适用于水轮机调节系统的非线性模型预测控制器（nonlinear model predictive controller，NMPC）。考虑到水轮机调节系统的约束问题，引入二次规划（quadratic programming，QP），求解系统约束下的最优控制器输出。通过数值模拟评估所设计的基于二次规划的非线性模型预测控制器（quadratic programming-based nonlinear model predictive controller，QPNMPC）的性能，模拟结果表明：所设计的QPNMPC控制器能够有效地控制水轮机调节系统的输出功率，且相比于传统的PID控制器具有一定的优点。

Abstract

The nonlinear terms of the hydro-turbine governing system (HTGS) were approximated based on Maclaurin series. Takagi-Sugeno (TS) fuzzy control was introduced to handle the nonlinear terms of the Maclaurin series

and TS models of the HTGS were developed resultantly. Based on the TS fuzzy models and the defined cost function

a nonlinear model predictive control (NMPC) strategy was designed for the HTGS. Considering the constraints of the HTGS

quadratic programming (QP) was utilized to solve the optimal controller output under the system constraints. Simulations were conducted to assess the performance of the designed QP-based NMPC (QPNMPC) controller. Simulation results reveal that the proposed QPNMPC controller can effectively regulate the output power of the HTGS and that compared with the conventional PID controller the advantages of the proposed QPNMPC controller are demonstrated.

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references

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