基于控制系统四元组形式的发电机非线性分散鲁棒控制

分析了仅包含状态变量、输出变量、控制变量的控制系统常规三元组形式应用到发电机分散鲁棒控制时遇到的困难，为克服这些困难提出了包含状态变量、输出变量、控制变量、量测变量的控制系统四元组形式的概念。量测变量的引入使得发电机综合控制模型本身变为各机解耦、与外部系统网络参数及动态无关，在此模型下设计出分散鲁棒控制器是自然的。此模型可以考虑系统包含各种动态元件如FACTS元件、HVDC系统等情况，在此四元组模型下，通过直接寻求控制量与控制目标之间关系的关联度方法将发电机控制的四元组模型完全线性化，通过励磁控制使发电机端电压具有良好的动态特性，通过汽门控制提高发电机功角暂态稳定性。数字仿真表明，所设计的基于控制系统四元组形式的发电机非线性分散鲁棒综合控制器是有效的。

NONLINEAR DECENTRALIZED ROBUST CONTROL OF TURBO-GENERATOR BASED ON FOUR-ATOM FORMULATION OF CONTROL SYSTEMS

The difficulties encountered when applying the conventional three-atom formulation of control systems which comprises of state variables, output variables and control variables to nonlinear decentralized robust control of turbo-generator are analyzed. In order to overcome these difficulties a new modeling formulation of control systems, namely four-atom formulation of control systems, is presented which comprises of not only state variables, output variables and control variables but also measured variables. The introduction of measured variables makes the integrated control model of turbo-generator decentralized, not include the parameters and dynamics of the external networks of power systems. By the new modeling formulation proposed we can consider control of turbo-generator in a power system including all kinds of dynamic elements such as FACTS elements, HVDC elements etc. It is natural that decentralized robust controller can be designed under this new modeling formulation. The four-atom integrated control model of turbo-generator founded by the new modeling formulation proposed is completely linearized by directly founding the relation between output variables and control variables. Good dynamic performances of generator terminal voltage and generator power angle are respectively acquired through excitation controller and steam valve controller designed according to the four-atom formulation of turbo-generator integrated control. Digital simulations imply that the nonlinear decentralized robust turbo-generator integrat-ed controller designed in this paper is effective.