一种满意控制的水轮机调速系统参数优化方法

水轮机调速器比例积分微分(proportion-integration- differentiation，PID)参数优化是经久不衰的研究课题，目前研究较多的是基于最优化理论的参数设计。提出一种基于水轮机转速性能指标满意度参数优化的新方法，该方法直接计算系统响应的上升时间、超调量、调整时间、稳态误差和反调量等性能指标，籍此得到各性能指标的满意度函数，并以系统总体满意度作为适应度函数，利用遗传算法进行参数优化，得到总体满意度符合设计要求的PID参数。该方法设计目标更实际、具体，尽管参数不一定最优，但能满足系统响应要求，且代价较小，更具实用性。应用至刚性水击模型和弹性刚性水击模型水力系统的PID参数优化设计，仿真结果表明满意度控制方法在水轮机调速系统参数优化中的有效性和实用性。

A Method to Optimize Parameters of the Hydraulic Turbine Governor With Satisfactory Control

Proportion-integration-differentiation (PID) parameters optimization of the hydro-turbine governor is an everlasting topic. Currently most studies focus on the parameter design based on optimal theories. A new method of parameters optimization was put forward according to the satisfactory degree of performance indices of hydro-turbine speed. Performance indices, such as rise time, overshoot, settling time and steady-state error of system response, were directly measured, so as to obtain satisfactory degree function of each index. Taking the total satisfactory degree value as fitness function to optimize parameters with genetic algorithm (GA), the PID parameters meeting design demands were obtained. The design aim of the proposed method is more practicable and workable. The parameters obtained，though not be optimal, can meet demands of system response and be more practical with lower cost. This method was applied to designing PID parameters of linear and nonlinear non-elastic water models of the hydraulic system, and simulation results proved the effectiveness and usefulness of satisfactory control in optimizing parameters of the hydro turbine governor.