| 管光华,李枭华,毛中豪,罗玉峰,黄跃群,杨家亮.基于线性二次最优的多级串联明渠前馈控制方法研究[J].水利学报,2025,56(4):499-510 |
| 基于线性二次最优的多级串联明渠前馈控制方法研究 |
| A feedforward control method based on linear quadratic optimization for cascaded open channel |
| 投稿时间：2024-05-07 |
| DOI：10.13243/j.cnki.slxb.20240261 |
| 中文关键词: 多级串联明渠 线性二次最优 前馈控制方法 前反馈混合控制 鲁棒性 |
| 英文关键词: cascaded open channel Linear Quadratic Regulator(LQR) feedforward control method forward-feedback hybrid control robustness |
| 基金项目:国家重点研发计划项目(2022YFC3202500) |
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| 中文摘要: |
| 针对多级串联明渠长时间滞后的控制难点以及冰期输水过渡渠道需要快速、平稳的控制需求，本文基于线性二次最优控制(LQR)和渠道线性预测模型，提出了改进的最优化前馈控制方法;并构建了前馈-反馈流量复合规则，设计了前反馈混合控制(HLQR)算法。将此控制算法应用于南水北调中线干渠最后10个渠池进行仿真验证，与无前馈控制、流量补偿前馈控制对比分析，并检验了该控制算法对于取水流量不确定性的抗干扰能力。算例仿真结果表明：对于多个分水口同时发生流量变化的模拟条件，在取水流量完全确定工况下，相比常规控制策略，HLQR算法求取的控制策略能够在减少闸门动作量和流量调节量的同时，降低水位偏差(最大水位偏差和累积水位偏差分别减小36.51%和28.99%)，并更快到达稳定状态(稳定耗时缩短8.11%);在取水流量不完全确定工况下，HLQR算法对流量扰动的不确定性具有更强的鲁棒性。 |
| 英文摘要: |
| Aiming at the difficulty of controlling cascaded open channels with long time lag and the need for fast and smooth control of water transfer channels in ice period，an improved optimal feedforward control method is proposed in this paper based on the linear quadratic regulator (LQR) with a linear prediction model.The feedforward-feedback compound rules and the hybrid feedforward control (HLQR) algorithm are presented and have been applied to the last 10 channel pools of the Middle Route of the South-to-North Water Diversion Project for simulation and verification of its comprehensive control performance.Then the proposed HLQR is compared with no-feedforward control and flow compensation feedforward control，and tested for its ability to resist interference for uncertainty in water intake flow.The simulation results indicate that，when multiple diversion offtakes experience simultaneous flow changes，under the condition of determined water intake flow，the HLQR algorithm can reduce the deviation in water level (the maximum and cumulative deviation are reduced by 36.51% and 28.99% respectively) with fewer gate actions and smaller flow regulation，thereby enabling the channel system to reach a stable state faster (the stabilization time is shortened by 8.11%).Under uncertain water intake flow conditions，compared to a conventional control strategy，the HLQR algorithm has a stronger robustness to adapt to the stochastic flow of water intake. |
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