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为消除在实际运行过程中的模型失配和水力参数(糙率、流量系数等)的不确定性所造成的影响,完成了串联多渠池渠段自适应控制器的设计和测试。利用基于状态空间模型的频率设计方法对模型和外界扰动的不确定性进行量化,采用部分极点配置原则以解决系统临界稳定意义下的病态问题。分析了渠道运行控制特性,提出了性能权函数、鲁棒权函数的选择方法。算法的有效性在多渠池算例上得到了验证。动态仿真结果表明:给定节制闸开度和水力参数变化,各渠段节制闸附近水位波动可以得到很好的抑制,系统跟踪精度高,鲁棒性能良好。
In order to eliminate the influence of model mismatch and uncertainty of hydraulic parameters (roughness, flow coefficient, etc.) in actual operation, the design and test of adaptive controller in tandem multi-channel cell was completed. The frequency design method based on the state space model is used to quantify the uncertainty of the model and the disturbance of the outside world. Partial pole placement principle is adopted to solve the ill-conditioned problem in the critical stability of the system. The characteristics of channel operation control were analyzed, and the performance weight function and the selection method of robust weight function were put forward. The validity of the algorithm has been verified in multi-channel pooling cases. The dynamic simulation results show that given the changes of the opening degree and the hydraulic parameters of the control gates, the fluctuation of the water level near the control gates in each channel can be well suppressed, and the system has high tracking accuracy and good robustness.