PDF(14148 KB)
Suppression of Low-Frequency Oscillations in Hydroelectric Unit Speed Control Based on Backstepping Sliding Mode Algorithm
Ting GU, Hongyan TU
Distributed Energy ›› 2025, Vol. 10 ›› Issue (3) : 93-100.
PDF(14148 KB)
PDF(14148 KB)
Suppression of Low-Frequency Oscillations in Hydroelectric Unit Speed Control Based on Backstepping Sliding Mode Algorithm
The load fluctuation and flow rate change caused by the tail water pressure and head fluctuation of the hydropower unit will generate external perturbation to the speed control system of the hydropower unit,which makes the speed control of the hydropower unit have nonlinear dynamic characteristics,interferes with the normal low-frequency oscillation suppression,and fails to effectively reduce the amplitude of the low-frequency oscillation of the hydropower unit. Therefore,a low-frequency oscillation suppression method based on the backstepping sliding mode algorithm is proposed for the speed control of hydropower units. First of all,the external disturbing factors such as water current speed change and load fluctuation are quantitatively analyzed to identify the nonlinear dynamic speed regulation state of the hydropower unit. Low-frequency oscillation parameters such as oscillation amount,oscillation amplitude,and oscillation frequency are detected in the nonlinear dynamic speed regulation state as the initial data for oscillation suppression. Then,taking the identification results of the speeding state of the hydroelectric unit and the detection results of the low-frequency oscillation parameters as input values,the “sliding mode variable structure” technology is introduced into the speed regulation state based on the backstepping sliding mode algorithm,so as to make the speeding state converge to the predetermined sliding mode surface within a limited time,and generate the backstepping sliding mode control law,which can be used to compensate for the nonlinear state of the unit and the external disturbances,and to reduce the low-frequency oscillations to suppress nonlinear disturbances. Finally,the speed control parameters are adaptively adjusted to realize the low-frequency oscillation suppression of hydroelectric unit speed control. The test results show that the method can significantly reduce the low-frequency oscillation amplitude of the hydropower unit with and without external disturbances,and the fluctuation coefficient of the low-frequency oscillation amplitude oscillation attenuation rate can be controlled to be less than 0.1 under the influence of external disturbances,which means that it has a better effect of disturbance suppression and nonlinear dynamic adaptation.
backstepping sliding mode algorithm / hydroelectric unit / speed control / low-frequency oscillation / oscillation suppression
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The hydro-turbine regulating system plays a key role in the safe and stable operation of hydropower plants. Improper regulation parameters can weaken the damping of the system and induce hydropower unit power angle oscillation behavior. In order to ensure the stable operation of hydropower units, this paper proposes a fuzzy sliding mode control strategy based on improved reaching law and sliding manifold. Firstly, considering the mutual influence between the transient characteristics of hydraulic and electromechanical systems, a hydro-turbine regulating system containing the internal characteristics of the hydraulic turbine with elastic water hammer and the third-order generator model is established, and the oscillation characteristics of the system under different operating conditions are analyzed. Secondly, the stability of the system rotor angle is enhanced by introducing Δ δ and Δ V t into the sliding manifold to improve the influence of the controller output on the system damping. On this basis, taking the mechanical power of the system as the reference index, a variable speed reaching law based on the exponential law adjustment is designed, so that the convergence speed can be adjusted in time with the change of working conditions. Simulation results under different working conditions show that the proposed control law can effectively improve the power-angle oscillation behavior of the hydropower unit and suppress the occurrence of low-frequency oscillation of the system when the system is subject to power disturbance, which enhances the stability of the system and the robustness of the controller. |
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