Nonlinear modeling and dynamic control of hydro-turbine governing system with upstream surge tank and sloping ceiling tailrace tunnel
Nonlinear modeling and dynamic control of hydro-turbine governing system with upstream surge tank and sloping ceiling tailrace tunnel
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上游调压室斜顶尾水洞水轮机调速系统非线性建模与动态控制
DOI：
10.1007/s11071-015-2577-0
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发表时间：
2016-01
影响因子：
5.6
通讯作者：
Mingjiang Wang
中科院分区：
文献类型：
--
作者：
Wencheng Guo;Ji;ong Yang;Jieping Chen;Mingjiang Wang
利用Hopf分岔理论，研究了上游调压室和斜顶尾水洞水电站水轮机调节系统的非线性动力特性。首先，提出了一种新颖合理的水轮机控制系统非线性数学模型。该模型包含管道系统的非线性动力学方程，能够准确地描述斜顶尾水隧道自由面-受压流界面的运动特性。根据非线性数学模型，分析了非线性动力系统Hopf分岔的存在性及方向。进一步推导了Hopf分岔发生的代数判据。然后利用代数判据绘制了水轮机调节系统的稳定域和分岔图。最后，研究了不同状态参数下的动态特性，并提出了动态控制方法。结果表明：以本文为例，水轮机调节系统的Hopf分岔是超临界的。当系统状态参数点位于稳定域和不稳定域时，特征变量的相空间轨迹分别稳定在平衡点和稳定极限环处。水轮机调节系统特征量在负荷扰动下的动态响应过程呈现出明显的波动叠加特征。为了使上游调压室和斜顶尾水洞水轮机调速系统的动态响应过程更加稳定、衰减更快，调速器参数应位于稳定域内，并尽可能远离分叉点。
Using the Hopf bifurcation theory, the nonlinear dynamic characteristics of hydro-turbine governing system of hydropower station with upstream surge tank and sloping ceiling tailrace tunnel are studied. Firstly, a novel and rational nonlinear mathematical model of the hydro-turbine governing system is proposed. This model contains the nonlinear dynamic equation of pipeline system, which can accurately describe the motion characteristics of the interface of free surface-pressurized flow in sloping ceiling tailrace tunnel. According to the nonlinear mathematical model, the existence and direction of Hopf bifurcation of the nonlinear dynamic system are analyzed. Furthermore, the algebraic criterion of the occurrence of Hopf bifurcation is derived. Then the stability domain and bifurcation diagram of hydro-turbine governing system are drawn by the algebraic criterion. Finally, the dynamic characteristics under different state parameters are investigated and the dynamic control method is proposed. The results indicate that: For the example in this paper, the Hopf bifurcation of hydro-turbine governing system is supercritical. The phase space trajectories of characteristic variables stabilize at the equilibrium points and stable limit cycles when the system state parameter point locates in the stable domain and unstable domain, respectively. The dynamic response processes of the characteristic variables of the hydro-turbine governing system under load disturbance show an obvious feature of wave superposition. To make the dynamic response process of the hydro-turbine governing system with upstream surge tank and sloping ceiling tailrace tunnel more stable and attenuate faster, the governor parametersshould locate in the stable domain and keep away from the bifurcation point as much as possible.
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